From 770c1b4362611a81fcc212ef29fc53a6a8e47869 Mon Sep 17 00:00:00 2001 From: Anders Sandstrom Date: Tue, 1 Feb 2022 11:21:38 +0100 Subject: [PATCH] work related to spindle --- ecmc_plugin_grbl/ecmcGrbl.cpp | 30 +- ecmc_plugin_grbl/ecmcGrbl.h | 1 + ecmc_plugin_grbl/ecmcGrblDefs.h | 1 + grbl/grbl_spindle_control.c | 269 +- grbl/grbl_stepper.c | 8 +- grbl/grbl_system.h | 1 + iocsh/cfg/el7201_mod.ax | 96 + iocsh/cfg/test.nc | 28 +- ...10-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd | 35 + iocsh/log.log | 8371 ++++------------- iocsh/test.script | 29 +- 11 files changed, 1981 insertions(+), 6888 deletions(-) create mode 100644 iocsh/cfg/el7201_mod.ax create mode 100644 iocsh/ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd diff --git a/ecmc_plugin_grbl/ecmcGrbl.cpp b/ecmc_plugin_grbl/ecmcGrbl.cpp index b532def..7408009 100644 --- a/ecmc_plugin_grbl/ecmcGrbl.cpp +++ b/ecmc_plugin_grbl/ecmcGrbl.cpp @@ -124,6 +124,7 @@ ecmcGrbl::ecmcGrbl(char* configStr, writerBusy_ = 0; limitsSummary_ = 0; limitsSummaryOld_ = 0; + spindleAcceleration_ = 0; grblCommandBufferIndex_ = 0; grblCommandBuffer_.clear(); @@ -571,6 +572,7 @@ void ecmcGrbl::giveControlToEcmcIfNeeded() { // Stop spindle if(cfgSpindleAxisId_>=0) { setAxisTargetVel(cfgSpindleAxisId_, 0); + moveStop(cfgSpindleAxisId_); } // Halt grbl and stop motion (even though should be handled by ecmc) @@ -616,6 +618,23 @@ void ecmcGrbl::syncAxisPositionIfNotEnabled(int ecmcAxisId, int grblAxisId) { // prepare for rt here int ecmcGrbl::enterRT() { + // readback spindleAcceleration_ + if(cfgSpindleAxisId_ >= 0) { + double acc = 0; + int errorCode = getAxisAcceleration(cfgSpindleAxisId_, + &acc); + if(errorCode) { + errorCode_ = errorCode; + return errorCode; + } + + if(acc <= 0) { + errorCode_ = ECMC_PLUGIN_SPINDLE_ACC_ERROR_CODE; + retrun errorCode_; + } + + spindleAcceleration_ = acc; + } return 0; } @@ -679,9 +698,14 @@ void ecmcGrbl::postExeAxes() { postExeAxis(cfgXAxisId_,X_AXIS); postExeAxis(cfgYAxisId_,Y_AXIS); postExeAxis(cfgZAxisId_,Z_AXIS); - // if(cfgSpindleAxisId_>=0) { - // setAxisTargetVel(xxx); - // } + //printf("Spindle Velo %f\n", sys.spindle_speed); + if(cfgSpindleAxisId_>=0) { + setAxisTargetVel(cfgSpindleAxisId_,(double)sys.spindle_speed); + moveVelocity(cfgSpindleAxisId_, + (double)sys.spindle_speed, + spindleAcceleration_, + spindleAcceleration_); + } } // trigg start of g-code diff --git a/ecmc_plugin_grbl/ecmcGrbl.h b/ecmc_plugin_grbl/ecmcGrbl.h index d986346..8b87176 100644 --- a/ecmc_plugin_grbl/ecmcGrbl.h +++ b/ecmc_plugin_grbl/ecmcGrbl.h @@ -96,6 +96,7 @@ class ecmcGrbl : public asynPortDriver { bool writerBusy_; int limitsSummary_; int limitsSummaryOld_; + double spindleAcceleration_; }; #endif /* ECMC_GRBL_H_ */ diff --git a/ecmc_plugin_grbl/ecmcGrblDefs.h b/ecmc_plugin_grbl/ecmcGrblDefs.h index a75a241..4e52e16 100644 --- a/ecmc_plugin_grbl/ecmcGrblDefs.h +++ b/ecmc_plugin_grbl/ecmcGrblDefs.h @@ -30,6 +30,7 @@ #define ECMC_PLUGIN_AXIS_AT_LIMIT_ERROR_CODE 0x102 #define ECMC_PLUGIN_LOAD_FILE_ERROR_CODE 0x103 #define ECMC_PLUGIN_LIMIT_SWITCH_VIOLATION_ERROR_CODE 0x104 +#define ECMC_PLUGIN_SPINDLE_ACC_ERROR_CODE 0x105 #define ECMC_PLUGIN_GRBL_GRBL_STARTUP_STRING "for help]" #define ECMC_PLUGIN_GRBL_GRBL_OK_STRING "ok" diff --git a/grbl/grbl_spindle_control.c b/grbl/grbl_spindle_control.c index 110b969..0905bdb 100644 --- a/grbl/grbl_spindle_control.c +++ b/grbl/grbl_spindle_control.c @@ -30,68 +30,73 @@ void spindle_init() { printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__); -// #ifdef VARIABLE_SPINDLE -// // Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are -// // combined unless configured otherwise. -// SPINDLE_PWM_DDR |= (1< 0) { + return(SPINDLE_STATE_CW); + } else if(sys.spindle_speed < 0) { + return(SPINDLE_STATE_CCW); + } return(SPINDLE_STATE_DISABLE); } @@ -154,12 +159,13 @@ void spindle_stop() //#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE - // Called by spindle_set_state() and step segment generator. Keep routine small and efficient. - uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit. - { - printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__); - return 0; - +// // Called by spindle_set_state() and step segment generator. Keep routine small and efficient. +// uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit. +// { +// //printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__); +// sys.spindle_speed = rpm; // ecmc +// return 0; +// // uint8_t pwm_value; // rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value. // // Calculate PWM register value based on rpm max/min settings and programmed rpm. @@ -201,30 +207,30 @@ void spindle_stop() // #else // // // Called by spindle_set_state() and step segment generator. Keep routine small and efficient. -// uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit. -// { -// uint8_t pwm_value; -// rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value. -// // Calculate PWM register value based on rpm max/min settings and programmed rpm. -// if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) { -// // No PWM range possible. Set simple on/off spindle control pin state. -// sys.spindle_speed = settings.rpm_max; -// pwm_value = SPINDLE_PWM_MAX_VALUE; -// } else if (rpm <= settings.rpm_min) { -// if (rpm == 0.0) { // S0 disables spindle -// sys.spindle_speed = 0.0; -// pwm_value = SPINDLE_PWM_OFF_VALUE; -// } else { // Set minimum PWM output -// sys.spindle_speed = settings.rpm_min; -// pwm_value = SPINDLE_PWM_MIN_VALUE; -// } -// } else { -// // Compute intermediate PWM value with linear spindle speed model. -// // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight. -// sys.spindle_speed = rpm; -// pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE; -// } -// return(pwm_value); + uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit. + { + uint8_t pwm_value; + rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value. + // Calculate PWM register value based on rpm max/min settings and programmed rpm. + if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) { + // No PWM range possible. Set simple on/off spindle control pin state. + sys.spindle_speed = settings.rpm_max; + pwm_value = SPINDLE_PWM_MAX_VALUE; + } else if (rpm <= settings.rpm_min) { + if (rpm == 0.0) { // S0 disables spindle + sys.spindle_speed = 0.0; + pwm_value = SPINDLE_PWM_OFF_VALUE; + } else { // Set minimum PWM output + sys.spindle_speed = settings.rpm_min; + pwm_value = SPINDLE_PWM_MIN_VALUE; + } + } else { + // Compute intermediate PWM value with linear spindle speed model. + // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight. + sys.spindle_speed = rpm; + pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE; + } + return(pwm_value); } //#endif @@ -240,48 +246,47 @@ void spindle_stop() void _spindle_set_state(uint8_t state) #endif { - printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__); -// - //if (sys.abort) { return; } // Block during abort. -// - //if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm. - // - // #ifdef VARIABLE_SPINDLE - // sys.spindle_speed = 0.0; - // #endif - // spindle_stop(); - // - //} else { - // - // #if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS) - // if (state == SPINDLE_ENABLE_CW) { - // SPINDLE_DIRECTION_PORT &= ~(1<spindle_pwm); + // Set real-time spindle output as segment is loaded, just prior to the first step. + //spindle_set_speed(st.exec_segment->spindle_pwm); #endif } else { @@ -424,7 +424,9 @@ double ecmc_grbl_main_rt_thread() st_go_idle(); #ifdef VARIABLE_SPINDLE // Ensure pwm is set properly upon completion of rate-controlled motion. - if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); } + if (st.exec_block->is_pwm_rate_adjusted) { + //spindle_set_speed(SPINDLE_PWM_OFF_VALUE); + } #endif system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end return -1.0; // Nothing to do but exit. diff --git a/grbl/grbl_system.h b/grbl/grbl_system.h index 4f7bd82..6774266 100644 --- a/grbl/grbl_system.h +++ b/grbl/grbl_system.h @@ -153,6 +153,7 @@ extern system_t sys; // NOTE: These position variables may need to be declared as volatiles, if problems arise. extern int enableDebugPrintouts; extern int stepperInterruptEnable; + extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps. extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps. diff --git a/iocsh/cfg/el7201_mod.ax b/iocsh/cfg/el7201_mod.ax new file mode 100644 index 0000000..b4bb274 --- /dev/null +++ b/iocsh/cfg/el7201_mod.ax @@ -0,0 +1,96 @@ +#General +epicsEnvSet("ECMC_MOTOR_NAME", "Axis1") +epicsEnvSet("ECMC_R", "Axis1-") +epicsEnvSet("ECMC_AXIS_NO", "3") +epicsEnvSet("ECMC_DESC", "EL7201 Test") +epicsEnvSet("ECMC_EGU", "mm") # Motor Record Unit +epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision +epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver +epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0) +epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE) +epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE!=: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance + +#Encoder +epicsEnvSet("ECMC_ENC_SCALE_NUM" "360") +epicsEnvSet("ECMC_ENC_SCALE_DENOM" "1048576") +epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute (in this case its single turn absolute (needs homing)) +epicsEnvSet("ECMC_ENC_BITS" "32") # Total bit count of encoder raw data +epicsEnvSet("ECMC_ENC_ABS_BITS", "20") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS +epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders) +epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).positionActual01") # Ethercat entry for actual position input (encoder) +epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning handled by DS402 statemachine + +#Drive +epicsEnvSet("ECMC_DRV_TYPE" "1") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) +# Scalings: Amplifier Max 8000Hz = 2880000 deg/s (8kHz Reverse engineered) +epicsEnvSet("ECMC_DRV_SCALE_NUM" "2880000") # Fastest speed in engineering units +epicsEnvSet("ECMC_DRV_SCALE_DENOM" "2147483648") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET +epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).driveControl01") # Ethercat entry for control word or bit output +epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).driveStatus01") # Ethercat entry for status word or bit input +epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).velocitySetpoint01") # Ethercat entry for velocity setpoint output +epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "") # Ethercat entry for reduce torque output +epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output +epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_EC_DRV_RESET", "") # Reset (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_0", "") # Error 0 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_1", "") # Error 1 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_2", "") # Error 2 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_WARNING", "") # Warning (handled by ds402 statemachine, but this bit can be used anyway if needed) + +#Trajectory +epicsEnvSet("ECMC_TRAJ_TYPE", "1") # Trapetz: 0, S-Curve: 1 +epicsEnvSet("ECMC_VELO", "1000.0") +epicsEnvSet("ECMC_JOG_VEL", "3600") +epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL +epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "1000") +epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration +epicsEnvSet("ECMC_JERK", "1000") # Only valid for ECMC_TRAJ_TYPE==1 + +#Homing +epicsEnvSet("ECMC_HOME_PROC", "1") +epicsEnvSet("ECMC_HOME_POS", "0.0") +epicsEnvSet("ECMC_HOME_VEL_TO", "5") +epicsEnvSet("ECMC_HOME_VEL_FRM", "4") +epicsEnvSet("ECMC_HOME_ACC", "21") +epicsEnvSet("ECMC_HOME_DEC", "100") +epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing +epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing + +#Controller +epicsEnvSet("ECMC_CNTRL_KP", "50") +epicsEnvSet("ECMC_CNTRL_KI", "0.1") +epicsEnvSet("ECMC_CNTRL_KD", "0.0") +epicsEnvSet("ECMC_CNTRL_KFF", "1.0") + +#Monitoring +# Switches +epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).ONE.0") # Ethercat entry for low limit switch input +epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).ONE.0") # Ethercat entry for high limit switch inpuit +epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).ONE.0") # Ethercat entry for home switch input +epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s$(ECMC_EC_SLAVE_NUM_SPINDLE).ONE.0") # Ethercat entry for external interlock input + +# Softlimits (disable with 0,0,0) +epicsEnvSet("ECMC_SOFT_LOW_LIM", "$(SM_DLLM=0)") +epicsEnvSet("ECMC_SOFT_HIGH_LIM", "$(SM_DHLM=0)") +epicsEnvSet("ECMC_DXLM_ENABLE", "0") + +# Position lag +epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5") +epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100") +epicsEnvSet("ECMC_MON_LAG_MON_ENA", "0") + +# At target +epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.3") +epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100") +epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1") + +# Velocity +epicsEnvSet("ECMC_MON_VELO_MAX", "100.0") +epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100") +epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200") +epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0") diff --git a/iocsh/cfg/test.nc b/iocsh/cfg/test.nc index f7a20dd..82f8819 100644 --- a/iocsh/cfg/test.nc +++ b/iocsh/cfg/test.nc @@ -1,36 +1,14 @@ G1X20Y20F360 +S10 +M03 G4P2 G2X0Y0R20 G4P2 G0X10Y10 G2X10Y-10R10 +M05 G4P2 G1X0Y0 G1X20Y20F360 G4P2 G2X0Y0R20 -G4P2 -G0X10Y10 -G4P2 -G1X0Y0 -G1X20Y20F360 -G4P2 -G2X0Y0R20 -G4P2 -G0X10Y10 -G4P2 -G1X0Y0 -G1X20Y20F360 -G4P2 -G2X0Y0R20 -G4P2 -G0X10Y10 -G4P2 -G1X0Y0 -G1X20Y20F360 -G4P2 -G2X0Y0R20 -G4P2 -G0X10Y10 -G4P2 -G1X0Y0 diff --git a/iocsh/ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd b/iocsh/ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd new file mode 100644 index 0000000..c24b504 --- /dev/null +++ b/iocsh/ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd @@ -0,0 +1,35 @@ + +############################################################ +############# Parmetrization of EL7211-0010 for motor AM8121-F00-0000 +# +# Note: For important parameters see TwinCAT CoE startup list for the +# motor terminal configuration. + +#Nominal voltage = 48V +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x19,24000,4)" +#Motor max current = 6A +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x11,6000,4)" +#Motor rated current = 4A +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x12,4000,4)" +#Motor pole pairs = 3 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x13,3,1)" +#Torque contstant = 125 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x16,125,4)" +#Winding inductance = 28 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x19,28,2)" +#Rotor moment of inertia = 134 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x18,134,4)" +#Commutation offset = 270 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x15,270,2)" +#Motor thermal time constant = 564 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2d,564,2)" +#Motor speed limitation = 3378 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1b,3378,4)" +#Current loop proportianal gain = 332 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x13,332,2)" +#Current loop integral time = 5 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x12,5,2)" +#Velocity loop proportianal gain = 95 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x15,95,4)" +#Velocity loop integral time = 150 +ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x14,150,4)" diff --git a/iocsh/log.log b/iocsh/log.log index b2f5ed0..212a34e 100644 --- a/iocsh/log.log +++ b/iocsh/log.log @@ -1,9 +1,9 @@ registerChannelProviderLocal firstTime true # -# Start at "2022-W05-Jan31-1435-56-CET" +# Start at "2022-W05-Feb01-1120-28-CET" # # Version information: -# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-15125) +# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-29854) # # --->--> snip -->--> # Please Use Version and other environment variables @@ -27,14 +27,14 @@ registerChannelProviderLocal firstTime true # EPICS_DRIVER_PATH="/home/pi/epics/base-7.0.5/require/3.4.0/siteMods:/home/pi/epics/base-7.0.5/require/3.4.0/siteApps" # EPICS_CA_AUTO_ADDR_LIST="" # EPICS_CA_ADDR_LIST="" -# PATH="/home/pi/epics/base-7.0.5/require/3.4.0/bin:/home/pi/epics/base-7.0.5/bin/linux-arm:/home/pi/berryconda3/bin:/home/pi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games" +# PATH="/home/pi/berryconda3/envs/ecmccomgui_py35/bin:/home/pi/epics/base-7.0.5/require/3.4.0/bin:/home/pi/epics/base-7.0.5/bin/linux-arm:/home/pi/berryconda3/bin:/home/pi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games" # --->--> snip -->--> # # Set REQUIRE_IOC for its internal PVs -epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-15125" +epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-29854" # # Enable an exit subroutine for sotfioc -dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-15125" +dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-29854" # # Set E3_IOCSH_TOP for the absolute path where iocsh.bash is executed. epicsEnvSet E3_IOCSH_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh" @@ -262,18 +262,18 @@ epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE) epicsEnvUnset(ECMC_TRAJ_SOURCE) epicsEnvSet("ECMC_EGU", "mm") epicsEnvSet("ECMC_PREC", 3) -epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field ini2022/01/31 14:35:57.191 +epicsEnvSet("ECMC_AXISFIELDINI2022/02/01 11:20:29.150 ECMC Initializes............. -2022/01/31 14:35:57.191 ESS Open Source EtherCAT Motion Control Epics Module2022/01/31 14:35:57.191 +2022/02/01 11:20:29.150 ESS Open Source EtherCAT Motion Control Epics Module2022/02/01 11:20:29.151 Mode: Configuration -2022/01/31 14:35:57.191 OK -2022/01/31 14:35:57.191 OK -2022/01/31 14:35:57.192 OK -2022/01/31 14:35:57.194 OK -2022/01/31 14:35:57.215 OK -2022/01/31 14:35:57.215 OK -2022/01/31 14:35:57.215 OK -t to motor record +2022/02/01 11:20:29.151 OK +2022/02/01 11:20:29.151 OK +2022/02/01 11:20:29.152 OK +2022/02/01 11:20:29.689 OK +2022/02/01 11:20:29.710 OK +2022/02/01 11:20:29.710 OK +2022/02/01 11:20:29.710 OK +T", "") # Extra field init to motor record epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver ############################################################ ############# ASYN Configuration: @@ -332,6 +332,7 @@ ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" epicsEnvSet("ECMCCFG_INIT" ,"#") ############################################################################## ## Configure hardware: +# Hardware for X and Y in ESS crate iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcMCU1021_coupler.cmd ############################################################ ############# MCU1021: @@ -345,14 +346,13 @@ epicsEnvSet("HW_DESC", "EK1100") epicsEnvSet("P_SCRIPT", "mXsXXX") # add ${HW_DESC} to the bus at position ${SLAVE_ID} ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd",1) -iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd" 2022/01/31 14:35:57.217 OK -2022/01/31 14:35:57.218 OK -2022/01/31 14:35:57.225 OK -2022/01/31 14:35:57.226 OK -2022/01/31 14:35:57.226 OK -2022/01/31 14:35:57.226 OK -2022/01/31 14:35:57.226 OK -"NELM=1" +iocshLoad2022/02/01 11:20:29.712 OK +2022/02/01 11:20:29.713 OK +2022/02/01 11:20:29.720 OK +2022/02/01 11:20:29.722 OK +2022/02/01 11:20:29.722 OK +2022/02/01 11:20:29.722 OK + "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd" "NELM=1" epicsEnvSet("ECMC_EC_HWTYPE" "EK1100") epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2") epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x044c2c52") @@ -416,19 +416,20 @@ iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a02,0x6020,0x1,B1,binaryInput03)" -ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a03,0x6030,0x1,B1,binaryInput04)" -ecmcConfigOrDie "Cfg.EcAddEn2022/01/31 14:35:57.227 OK -2022/01/31 14:35:57.227 OK -2022/01/31 14:35:57.227 OK -2022/01/31 14:35:57.227 OK -2022/01/31 14:35:57.235 OK -2022/01/31 14:35:57.237 OK -2022/01/31 14:35:57.237 OK -2022/01/31 14:35:57.237 OK -2022/01/31 14:35:57.237 OK -2022/01/31 14:35:57.237 OK -2022/01/31 14:35:57.238 OK -tryDT(1,0x2,0x03fa3052,2,0,0x1a04,0x6040,0x1,B1,binaryInput05)" +ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2022/02/01 11:20:29.723 OK +2022/02/01 11:20:29.723 OK +2022/02/01 11:20:29.723 OK +2022/02/01 11:20:29.723 OK +2022/02/01 11:20:29.723 OK +2022/02/01 11:20:29.731 OK +2022/02/01 11:20:29.733 OK +2022/02/01 11:20:29.733 OK +2022/02/01 11:20:29.733 OK +2022/02/01 11:20:29.733 OK +2022/02/01 11:20:29.734 OK +2022/02/01 11:20:29.734 OK +2,0x03fa3052,2,0,0x1a03,0x6030,0x1,B1,binaryInput04)" +ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a04,0x6040,0x1,B1,binaryInput05)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a05,0x6050,0x1,B1,binaryInput06)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a06,0x6060,0x1,B1,binaryInput07)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a07,0x6070,0x1,B1,binaryInput08)" @@ -487,17 +488,16 @@ ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1602,0x7020,0x1,B1,bina ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1603,0x7030,0x1,B1,binaryOutput04)" ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1604,0x7040,0x1,B1,binaryOutput05)" ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1605,0x7050,0x1,B1,binaryOutput06)" -ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1606,0x7060,0x1,B1,binaryOutp2022/01/31 14:35:57.238 OK -2022/01/31 14:35:57.238 OK -2022/01/31 14:35:57.247 OK -2022/01/31 14:35:57.312 OK -2022/01/31 14:35:57.422 14385 -2022/01/31 14:35:57.424 OK -2022/01/31 14:35:57.424 OK -2022/01/31 14:35:57.424 OK -2022/01/31 14:35:57.425 OK -2022/01/31 14:35:57.425 OK -ut07)" +ecmc2022/02/01 11:20:29.734 OK +2022/02/01 11:20:29.734 OK +2022/02/01 11:20:29.744 OK +2022/02/01 11:20:30.032 OK +2022/02/01 11:20:30.122 14385 +2022/02/01 11:20:30.123 OK +2022/02/01 11:20:30.123 OK +2022/02/01 11:20:30.123 OK +2022/02/01 11:20:30.123 OK +ConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1606,0x7060,0x1,B1,binaryOutput07)" ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1607,0x7070,0x1,B1,binaryOutput08)" # deduce what the prefix should be ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) @@ -558,17 +558,18 @@ ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01, ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)" ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)" ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)" -ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)" +ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion02022/02/01 11:20:30.123 OK +2022/02/01 11:20:30.131 OK +2022/02/01 11:20:30.212 OK +2022/02/01 11:20:30.292 14385 +2022/02/01 11:20:30.293 OK +2022/02/01 11:20:30.293 OK +2022/02/01 11:20:30.293 OK +2022/02/01 11:20:30.293 OK +2022/02/01 11:20:30.293 OK +1)" # deduce what the prefix should be -ecmcFileExist("/home/pi/epics/base-7.0.5/re2022/01/31 14:35:57.443 OK -2022/01/31 14:35:57.532 OK -2022/01/31 14:35:57.612 14385 -2022/01/31 14:35:57.615 OK -2022/01/31 14:35:57.615 OK -2022/01/31 14:35:57.616 OK -2022/01/31 14:35:57.616 OK -2022/01/31 14:35:57.616 OK -quire/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101" #============================================================================== # ecmcmXsXXX.cmd @@ -627,11 +628,11 @@ ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10, ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)" # deduce what the prefix should be ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) -iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101" -#=======================================================================2022/01/31 14:35:57.636 OK -2022/01/31 14:35:57.639 OK -2022/01/31 14:35:57.639 OK -======= +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=4,HWTYP2022/02/01 11:20:30.301 OK +2022/02/01 11:20:30.302 OK +2022/02/01 11:20:30.302 OK +E=EL5101" +#============================================================================== # ecmcmXsXXX.cmd ecmcEpicsEnvSetCalc("sid", "4","%03d") ecmcEpicsEnvSetCalc("mid", "0","%01d") @@ -695,17 +696,17 @@ iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/apply # applySubstitutions.cmd ecmcFileExist(ecmcEL9505.substitutions,1,1) dbLoadTemplate(ecmcEL9505.substitutions,"ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505,T_SMP_MS=10,TSE=-2,NELM=1") -epicsEnvUnset(DEFAULT_SUBS) -ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "",2022/01/31 14:35:57.655 OK -2022/01/31 14:35:57.658 OK -2022/01/31 14:35:57.658 OK -2022/01/31 14:35:57.659 OK -2022/01/31 14:35:57.659 OK -2022/01/31 14:35:57.659 OK -2022/01/31 14:35:57.659 OK -2022/01/31 14:35:57.659 OK -2022/01/31 14:35:57.660 OK -"#- ") +epi2022/02/01 11:20:30.310 OK +2022/02/01 11:20:30.311 OK +2022/02/01 11:20:30.312 OK +2022/02/01 11:20:30.312 OK +2022/02/01 11:20:30.312 OK +2022/02/01 11:20:30.312 OK +2022/02/01 11:20:30.312 OK +2022/02/01 11:20:30.312 OK +2022/02/01 11:20:30.312 OK +csEnvUnset(DEFAULT_SUBS) +ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ") iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005" #============================================================================== # applyTemplate.cmd @@ -763,23 +764,23 @@ ecmcFileExist(ecmcEL1252.substitutions,1,1) dbLoadTemplate(ecmcEL1252.substitutions,"ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,NELM=1") epicsEnvUnset(DEFAULT_SUBS) ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ") -iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006" -#==================2022/01/31 14:35:57.683 OK -2022/01/31 14:35:57.802 OK -2022/01/31 14:35:57.882 12848 -2022/01/31 14:35:57.883 OK -2022/01/31 14:35:57.883 OK -2022/01/31 14:35:57.883 OK -2022/01/31 14:35:57.883 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -2022/01/31 14:35:57.884 OK -============================================================ +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEc2022/02/01 11:20:30.322 OK +2022/02/01 11:20:30.432 OK +2022/02/01 11:20:30.512 12848 +2022/02/01 11:20:30.513 OK +2022/02/01 11:20:30.513 OK +2022/02/01 11:20:30.513 OK +2022/02/01 11:20:30.513 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +2022/02/01 11:20:30.514 OK +Slave.template,ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006" +#============================================================================== # applyTemplate.cmd ecmcFileExist(ecmcEcSlave.template,1,1) dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,") @@ -840,15 +841,15 @@ iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcm # ecmcmXsXXX.cmd ecmcEpicsEnvSetCalc("sid", "8","%03d") ecmcEpicsEnvSetCalc("mid", "0","%01d") -epicsEnvSet("ECMC_G", "IOC_TEST:m0s008") +epicsEnvSet("ECMC_G", 2022/02/01 11:20:30.523 OK +2022/02/01 11:20:30.523 OK +2022/02/01 11:20:30.523 OK +2022/02/01 11:20:30.523 OK +2022/02/01 11:20:30.524 OK +2022/02/01 11:20:30.524 OK + "IOC_TEST:m0s008") epicsEnvSet("ECMC_P", "IOC_TEST:m0s008-") -epicsE2022/01/31 14:35:57.894 OK -2022/01/31 14:35:57.894 OK -2022/01/31 14:35:57.894 OK -2022/01/31 14:35:57.894 OK -2022/01/31 14:35:57.894 OK -2022/01/31 14:35:57.894 OK -nvUnset(sid) +epicsEnvUnset(sid) epicsEnvUnset(mid) ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ") iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL7037.substitutions,ECMC_P=IOC_TEST:m0s008-" @@ -908,23 +909,23 @@ iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/config epicsEnvSet("ECMC_EC_SLAVE_NUM", "9") epicsEnvSet("HW_DESC", "EL7037") ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd",1) -iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=9, HW_DESC=EL7037, NELM=1" -#==============================================================2022/01/31 14:35:57.897 OK -2022/01/31 14:35:58.012 OK -2022/01/31 14:35:58.092 12848 -2022/01/31 14:35:58.093 OK -2022/01/31 14:35:58.093 OK -2022/01/31 14:35:58.094 OK -2022/01/31 14:35:58.094 OK -2022/01/31 14:35:58.094 OK -2022/01/31 14:35:58.094 OK -2022/01/31 14:35:58.094 OK -2022/01/31 14:35:58.094 OK -2022/01/31 14:35:58.095 OK -2022/01/31 14:35:58.095 OK -2022/01/31 14:35:58.095 OK -2022/01/31 14:35:58.095 OK -================ +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=9, HW_DE2022/02/01 11:20:30.526 OK +2022/02/01 11:20:30.632 OK +2022/02/01 11:20:30.712 12848 +2022/02/01 11:20:30.715 OK +2022/02/01 11:20:30.715 OK +2022/02/01 11:20:30.715 OK +2022/02/01 11:20:30.716 OK +2022/02/01 11:20:30.716 OK +2022/02/01 11:20:30.716 OK +2022/02/01 11:20:30.717 OK +2022/02/01 11:20:30.717 OK +2022/02/01 11:20:30.717 OK +2022/02/01 11:20:30.717 OK +2022/02/01 11:20:30.717 OK +2022/02/01 11:20:30.718 OK +SC=EL7037, NELM=1" +#============================================================================== # addSlave.cmd epicsEnvSet("ECMC_EC_SLAVE_NUM", "9") epicsEnvSet("HW_DESC", "EL7037") @@ -985,24 +986,24 @@ ecmcFileExist(ecmcEcSlave.template,1,1) dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s009-,ECMC_G=IOC_TEST:m0s009,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=9,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,") epicsEnvUnset(DEFAULT_SLAVE_PVS) # increment SLAVE_ID -ecmcEpicsEnvSetCalc("SLAVE_ID", "9+1","%d") +ecm2022/02/01 11:20:30.736 OK +2022/02/01 11:20:30.736 OK +2022/02/01 11:20:30.737 OK +2022/02/01 11:20:30.737 OK +2022/02/01 11:20:30.737 OK +2022/02/01 11:20:30.737 OK +2022/02/01 11:20:30.738 OK +2022/02/01 11:20:30.740 OK +2022/02/01 11:20:30.952 OK +2022/02/01 11:20:31.032 14385 +2022/02/01 11:20:31.112 OK +2022/02/01 11:20:31.192 OK +2022/02/01 11:20:31.272 OK +2022/02/01 11:20:31.362 OK +2022/02/01 11:20:31.452 OK +cEpicsEnvSetCalc("SLAVE_ID", "9+1","%d") # apply config ${CONFIG} for ${HW_DESC} -e2022/01/31 14:35:58.104 OK -2022/01/31 14:35:58.104 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.105 OK -2022/01/31 14:35:58.106 OK -2022/01/31 14:35:58.106 OK -2022/01/31 14:35:58.106 OK -cmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd",1) +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd",1) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd "" epicsEnvSet(I_MAX_MA_LOCAL,"1500") epicsEnvSet(I_RUN_MA_LOCAL,1000) @@ -1037,6 +1038,170 @@ epicsEnvUnset("I_STDBY_MA_LOCAL") epicsEnvUnset("I_MAX_MA_LOCAL") #Apply hardware configuration ecmcConfigOrDie "Cfg.EcApplyConfig(1)" +# Use EL7211 as spindle +epicsEnvSet("ECMC_EC_SLAVE_NUM", "11") +epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE", "11") +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=11, HW_DESC=EL7211-0010" +#============================================================================== +# addSlave.cmd +epicsEnvSet("ECMC_EC_SLAVE_NUM", "11") +epicsEnvSet("HW_DESC", "EL7211-0010") +epicsEnvSet("P_SCRIPT", "mXsXXX") +# add ${HW_DESC} to the bus at position ${SLAVE_ID} +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7211-0010.cmd",1) +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7211-0010.cmd" "NELM=1" +epicsEnvSet("ECMC_EC_HWTYPE" "EL7211-0010") +epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2") +epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x1c2b3052") +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true" +ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ") +ecmcConfigOrDie "Cfg.EcSlaveVerify(0,11,0x2,0x1c2b3052)" +ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ") +ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x1011,0x1,1684107116,4)" +epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000") +ecmcConfig "EcReadSdo(11,0x100a,0x0,2)" +ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x") +# Firmware version: 0x3831 +epicsEnvUnset(ECMC_SLAVE_VERIFY) +epicsEnvUnset(ECMC_COMMENT) +ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8008,0x1,1,1)" +ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8008,0x2,1,1)" +ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8008,0x3,1,1)" +ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8010,0x14,50,4)" +ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8010,0x15,50,4)" +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX72XX_CSV.cmd +ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052022/02/01 11:20:31.453 OK +2022/02/01 11:20:31.453 OK +2022/02/01 11:20:31.454 OK +2022/02/01 11:20:31.454 OK +2022/02/01 11:20:31.454 OK +2022/02/01 11:20:31.457 OK +2022/02/01 11:20:31.457 OK +2022/02/01 11:20:31.459 OK +2022/02/01 11:20:31.459 OK +2022/02/01 11:20:31.460 OK +2,1,2,0x1600,0x7010,0x01,U16,driveControl01)" +ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052,1,2,0x1601,0x7010,0x06,S32,velocitySetpoint01)" +ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052,2,3,0x1a00,0x6000,0x11,U32,positionActual01)" +ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052,2,3,0x1a01,0x6010,0x01,U16,driveStatus01)" +ecmcConfigOrDie "Cfg.EcAddEntryComplete(11,0x2,0x1c2b3052,2,3,0x1a02,0x6010,0x07,32,velocityActual01)" +ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/1000*1E6) +ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS_HALF",1000000/2) +ecmcConfigOrDie "Cfg.EcSlaveConfigDC(11,0x700,1000000,500000,0,0)" +# Peak current (to be overwritten by motor config) +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x11,1000,4)" +ecmcEpicsEnvSetCalc("ECMC_TEMP_WHATCHDOG_1",1000/1000*1000) +ecmcEpicsEnvSetCalc("ECMC_TEMP_WHATCHDOG_2",1000*10) +ecmcConfigOrDie "Cfg.EcSlaveConfigWatchDog(11,1000,10000)" +# NOTE: Sometimes the EL7211-0010 will not go to op with the following error in /var/log/messages: +# Sep 8 09:54:21 mcag-epics4 kernel: EtherCAT ERROR 0-40: SDO download 0x1C32:01 (2 bytes) aborted. +# Then if the below command is not executed the slave will go online abnd work. Could be related to firmware versions.. Also see below 0x1c33 +#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x1C32,0x1,3,2)" +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x1C32,0x2,1000000,4)" +# NOTE: Sometimes the EL7211-0010 will not go to op with the following error in /var/log/messages: +# Sep 8 09:54:21 mcag-epics4 kernel: EtherCAT ERROR 0-40: SDO download 0x1C33:01 (2 bytes) aborted. +# Then if the below command is not executed the slave will go online abnd work. Could be related to firmware versions.. Also see above 0x1c32 +#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x1C33,0x1,3,2)" +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x1C33,0x2,1000000,4)" +epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS) +epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS_HALF) +epicsEnvUnset(ECMC_TEMP_WHATCHDOG_1) +epicsEnvUnset(ECMC_TEMP_WHATCHDOG_2) +# deduce what the prefix should be +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=11,HWTYPE=EL7211-0010" +#============================================================================== +# ecmcmXsXXX.cmd +ecmcEpicsEnvSetCalc("sid", "11","%03d") +ecmcEpicsEnvSetCalc("mid", "0","%01d") +epicsEnvSet("ECMC_G", "IOC_TEST:m0s011") +epicsEnvSet("ECMC_P", "IOC_TEST:m0s011-") +epicsEnvUnset(sid) +epicsEnvUnset(mid) +ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ") +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL7211-0010.substitutions,ECMC_P=IOC_TEST:m0s011-" +#============================================================================== +# applySubstitutions.cmd +ecmcFileExist(ecmcEL7211-0010.substitutions,1,1) +dbLoadTemplate(ecmcEL7211-0010.substitutions,"ECMC_P=IOC_TEST:m0s011-,ECMC_G=IOC_TEST:m0s011,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=11,HWTYPE=EL7211-0010,T_SMP_MS=10,TSE=-2,NELM=1") +epicsEnvUnset(DEFAULT_SUBS) +ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ") +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s011-,ECMC_G=IOC_TEST:m0s011" +#============================================================================== +# applyTemplate.cmd +ecmcFileExist(ecmcEcSlave.template,1,1) +dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s011-,ECMC_G=IOC_TEST:m0s011,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=11,HWTYPE=EL7211-0010,T_SMP_MS=10,TSE=-2,") +epicsEnvUnset(DEFAULT_SLAVE_PVS) +# increment SLAVE_ID +ecmcEpicsEnvSetCalc("SLAVE_ID", "11+1","%d") +# Apply local 24V config (local here) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySlaveConfig.cmd, "LOCAL_CONFIG=./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd" +#======================2022/02/01 11:20:31.473 OK +2022/02/01 11:20:31.473 OK +2022/02/01 11:20:31.473 OK +2022/02/01 11:20:31.473 OK +2022/02/01 11:20:31.473 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.474 OK +2022/02/01 11:20:31.475 OK +2022/02/01 11:20:31.475 OK +2022/02/01 11:20:31.475 OK +2022/02/01 11:20:31.475 OK +2022/02/01 11:20:31.476 OK +2022/02/01 11:20:31.476 OK +2022/02/01 11:20:31.476 OK +2022/02/01 11:20:31.476 OK +2022/02/01 11:20:31.476 OK +2022/02/01 11:20:31.476 OK +2022/02/01 11:20:31.476 OK +========================================================= +# applySlaveConfig.cmd +# Arguments: CONFIG _or_ LOCAL_CONFIG +epicsEnvSet("ECMC_CONFIG_FN", "./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd") +ecmcFileExist("./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd",1) +iocshLoad ./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd +############################################################ +############# Parmetrization of EL7211-0010 for motor AM8121-F00-0000 +# +# Note: For important parameters see TwinCAT CoE startup list for the +# motor terminal configuration. +#Nominal voltage = 48V +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x19,24000,4)" +#Motor max current = 6A +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x11,6000,4)" +#Motor rated current = 4A +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x12,4000,4)" +#Motor pole pairs = 3 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x13,3,1)" +#Torque contstant = 125 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x16,125,4)" +#Winding inductance = 28 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x19,28,2)" +#Rotor moment of inertia = 134 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x18,134,4)" +#Commutation offset = 270 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x15,270,2)" +#Motor thermal time constant = 564 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x2d,564,2)" +#Motor speed limitation = 3378 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x1b,3378,4)" +#Current loop proportianal gain = 332 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x13,332,2)" +#Current loop integral time = 5 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x12,5,2)" +#Velocity loop proportianal gain = 95 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x15,95,4)" +#Velocity loop integral time = 150 +ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x14,150,4)" +#Apply hardware configuration (wronmg here, should only be caööed once) +ecmcConfigOrDie "Cfg.EcApplyConfig(1)" +#Does not work. Known issue DC-patch for etherlab manster needed... +#ecmcConfigOrDie "Cfg.EcSelectReferenceDC(0,$(ECMC_EC_SLAVE_NUM))" # ADDITIONAL SETUP # Set all outputs to feed switches ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput01,1)" @@ -1049,7 +1214,7 @@ ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput07,1)" ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput08,1)" # END of ADDITIONAL SETUP ############################################################################## -## AXIS 1 +## AXIS 1: X-axis # epicsEnvSet("DEV", "IOC_TEST") iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/linear_1.ax) @@ -1174,48 +1339,50 @@ epicsEnvUnset(ECMC_EXE_CMD) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(600.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_NUM value OK == 600.0...',ERROR_STR='ECMC_DRV_SCALE_NUM == 0...'" #============================================================================== # verifyOrDie.cmd -ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(600.0)<>0","# ECMC_DRV_SCALE2022/01/31 14:35:58.115 OK -2022/01/31 14:35:58.115 OK -2022/01/31 14:35:58.115 OK -2022/01/31 14:35:58.115 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.118 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.119 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -_NUM value OK == 600.0...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...") +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(600.0)<>0","# ECMC_DRV_SCALE_NUM value OK == 600.0...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...") # ECMC_DRV_SCALE_NUM value OK == 600.0... -epicsEnvUnset(ECMC_EXE_CMD) +epicsEnvUns2022/02/01 11:20:31.494 OK +2022/02/01 11:20:31.494 OK +2022/02/01 11:20:31.495 OK +2022/02/01 11:20:31.495 OK +2022/02/01 11:20:31.499 OK +2022/02/01 11:20:31.499 OK +2022/02/01 11:20:31.499 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.500 OK +2022/02/01 11:20:31.501 OK +2022/02/01 11:20:31.501 OK +2022/02/01 11:20:31.501 OK +2022/02/01 11:20:31.501 OK +2022/02/01 11:20:31.501 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.502 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.503 OK +2022/02/01 11:20:31.504 OK +2022/02/01 11:20:31.504 OK +2022/02/01 11:20:31.504 OK +2022/02/01 11:20:31.504 OK +2022/02/01 11:20:31.504 OK +2022/02/01 11:20:31.504 OK +2022/02/01 11:20:31.505 OK +2022/02/01 11:20:31.505 OK +et(ECMC_EXE_CMD) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(32768.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 32768.0...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'" #============================================================================== # verifyOrDie.cmd @@ -1275,47 +1442,45 @@ ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.velocitySetpoint01,"ax1.drv.velo ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.position")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.brake")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.2,"ax1.drv.reducetorque")" -ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.120 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.121 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.122 OK -2022/01/31 14:35:58.123 OK -2022/01/31 14:35:58.123 OK -2022/01/31 14:35:58.123 OK -2022/01/31 14:35:58.123 OK -2022/01/31 14:35:58.123 OK -2022/01/31 14:35:58.123 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2 -2022/01/31 14:35:58.123 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6 -2022/01/31 14:35:58.123 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1 -2022/01/31 14:35:58.124 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20 -2022/01/31 14:35:58.124 ecmcMotorRecord:: connected(1) -2022/01/31 14:35:58.124 ecmcMotorRecord:: initialPoll(1) status=0 -01.1,"ax1.drv.reset")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.1,"ax1.drv.reset")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.3,"ax1.drv.alarm0")" -ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.7,"ax1.drv.alarm1")" +ecmcConfigOrDie "Cfg.2022/02/01 11:20:31.505 OK +2022/02/01 11:20:31.505 OK +2022/02/01 11:20:31.505 OK +2022/02/01 11:20:31.505 OK +2022/02/01 11:20:31.505 OK +2022/02/01 11:20:31.506 OK +2022/02/01 11:20:31.506 OK +2022/02/01 11:20:31.506 OK +2022/02/01 11:20:31.506 OK +2022/02/01 11:20:31.506 OK +2022/02/01 11:20:31.507 OK +2022/02/01 11:20:31.507 OK +2022/02/01 11:20:31.507 OK +2022/02/01 11:20:31.507 OK +2022/02/01 11:20:31.507 OK +2022/02/01 11:20:31.507 OK +2022/02/01 11:20:31.508 OK +2022/02/01 11:20:31.508 OK +2022/02/01 11:20:31.508 OK +2022/02/01 11:20:31.508 OK +2022/02/01 11:20:31.508 OK +2022/02/01 11:20:31.509 OK +2022/02/01 11:20:31.509 OK +2022/02/01 11:20:31.509 OK +2022/02/01 11:20:31.509 OK +2022/02/01 11:20:31.509 OK +2022/02/01 11:20:31.510 OK +2022/02/01 11:20:31.510 OK +2022/02/01 11:20:31.510 OK +2022/02/01 11:20:31.510 OK +2022/02/01 11:20:31.511 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2 +2022/02/01 11:20:31.511 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6 +2022/02/01 11:20:31.511 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1 +2022/02/01 11:20:31.512 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20 +2022/02/01 11:20:31.512 ecmcMotorRecord:: connected(1) +2022/02/01 11:20:31.512 ecmcMotorRecord:: initialPoll(1) status=0 +LinkEcEntryToObject(ec0.s8.driveStatus01.7,"ax1.drv.alarm1")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.14,"ax1.drv.alarm2")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.2,"ax1.drv.warning")" ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(1,32768.0)" @@ -1382,13 +1547,13 @@ epicsEnvUnset(ECMC_MOD_TYPE) epicsEnvUnset(ECMC_EMERG_DECEL) epicsEnvUnset(ECMC_VELO) epicsEnvUnset(ECMC_ACCL) -epicsEnvUnset(ECMC_ACCS_EGmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD}) -macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD}) -U_PER_S2) +epicsEnvUnset(ECMC_ACCS_EGU_PER_S2) epicsEnvUnset(ECMC_HOME_VEL_TO) epicsEnvUnset(ECMC_HOME_VEL_FRM) epicsEnvUnset(ECMC_CNTRL_KP) -epicsEnvUnset(ECMC_CNTRL_KI) +epicsEnvUnset(ECMC_CNTRmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD}) +macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD}) +L_KI) epicsEnvUnset(ECMC_CNTRL_KD) epicsEnvUnset(ECMC_CNTRL_KFF) epicsEnvUnset(ECMC_EC_ENC_ACTPOS) @@ -1482,28 +1647,28 @@ epicsEnvSet("ECMC_AXIS_EXPR_LINE_3", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_4", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_5", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_6", "") -epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.137 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.138 OK -2022/01/31 14:35:58.139 OK -") +epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_8", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_9", "") -epicsEnvSet("ECMC_AXIS_EXPR_LINE_10", "") +epicsEnvSet("ECMC_AXIS2022/02/01 11:20:31.535 OK +2022/02/01 11:20:31.535 OK +2022/02/01 11:20:31.535 OK +2022/02/01 11:20:31.535 OK +2022/02/01 11:20:31.535 OK +2022/02/01 11:20:31.536 OK +2022/02/01 11:20:31.536 OK +2022/02/01 11:20:31.536 OK +2022/02/01 11:20:31.536 OK +2022/02/01 11:20:31.536 OK +2022/02/01 11:20:31.536 OK +2022/02/01 11:20:31.537 OK +2022/02/01 11:20:31.537 OK +2022/02/01 11:20:31.537 OK +2022/02/01 11:20:31.537 OK +2022/02/01 11:20:31.537 OK +2022/02/01 11:20:31.537 OK +2022/02/01 11:20:31.538 OK +_EXPR_LINE_10", "") ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd",1) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd #============================================================================== @@ -1549,7 +1714,7 @@ epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE) epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE) epicsEnvUnset(ECMC_TRAJ_SOURCE) ############################################################################## -## AXIS 2 +## AXIS 2: Y-axis # #epicsEnvSet("DEV", "$(IOC)") iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/linear_2.ax) @@ -1624,7 +1789,10 @@ epicsEnvSet("ECMC_CNTRL_KFF", "1.0") # Switches epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s1.binaryInput06.0") # Ethercat entry for low limit switch input epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s1.binaryInput05.0") # Ethercat entry for high limit switch inpuit -epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s1.binaryInput07.0") # Ethercat entry for home switch input +epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s1.binaryInput07.0") # Ethercat entry for ho2022/02/01 11:20:31.551 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000082 +2022/02/01 11:20:31.551 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 +2022/02/01 11:20:31.551 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL +me switch input epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s0.ONE.0") # Ethercat entry for external interlock input # Softlimits (disable with 0,0) epicsEnvSet("ECMC_SOFT_LOW_LIM", "-130") @@ -1679,58 +1847,60 @@ epicsEnvUnset(ECMC_EXE_CMD) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(32768.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 32768.0...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'" #============================================================================== # verifyOrDie.cmd -ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(32768.0)<>0","# ECMC_DRV_SCALE_DENOM value OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_2022/01/31 14:35:58.151 OK -2022/01/31 14:35:58.151 OK -2022/01/31 14:35:58.151 OK -2022/01/31 14:35:58.151 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.154 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.155 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.156 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -2022/01/31 14:35:58.157 OK -DENOM == 0...") +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(32768.0)<>0","# ECMC_DRV_SCALE_DENOM value OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...") # ECMC_DRV_SCALE_DENOM value OK == 32768.0... epicsEnvUnset(ECMC_EXE_CMD) -ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1) +ecmcFileExist("/home/pi/epics2022/02/01 11:20:31.557 OK +2022/02/01 11:20:31.557 OK +2022/02/01 11:20:31.557 OK +2022/02/01 11:20:31.557 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.561 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.562 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.563 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.564 OK +/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '" #============================================================================== # issueWarning.cmd @@ -1792,38 +1962,36 @@ ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(2,32768.0)" ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(2,-600.0)" ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(2,0)" ecmcConfigOrDie "Cfg.SetAxisDrvBrakeCloseAheadTime(2,0)" -ecmcConfigOrDie "Cfg.SetAxis2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.158 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.159 OK -2022/01/31 14:35:58.160 OK -2022/01/31 14:35:58.160 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2 -2022/01/31 14:35:58.160 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6 -2022/01/31 14:35:58.160 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1 -2022/01/31 14:35:58.160 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130 -2022/01/31 14:35:58.161 ecmcMotorRecord:: connected(2) -2022/01/31 14:35:58.161 ecmcMotorRecord:: initialPoll(2) status=0 -SoftLimitPosBwd(2,-130)" +ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(2,-130)" ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(2,1)" -ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(2,20)" +ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosF2022/02/01 11:20:31.564 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.565 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.566 OK +2022/02/01 11:20:31.567 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2 +2022/02/01 11:20:31.567 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6 +2022/02/01 11:20:31.567 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1 +2022/02/01 11:20:31.567 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130 +2022/02/01 11:20:31.567 ecmcMotorRecord:: connected(2) +2022/02/01 11:20:31.567 ecmcMotorRecord:: initialPoll(2) status=0 +wd(2,20)" ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(2,1)" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput06.0,"ax2.mon.lowlim")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput05.0,"ax2.mon.highlim")" @@ -1899,15 +2067,17 @@ epicsEnvUnset(ECMC_ENC_TYPE) epicsEnvUnset(ECMC_ENC_BITS) epicsEnvUnset(ECMC_ENC_ABS_BITS) epicsEnvUnset(ECMC_ENC_ABS_OFFSET) -epicsEnvUnset(ECMC_ENmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD}) -macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD}) -2022/01/31 14:35:58.172 OK -2022/01/31 14:35:58.172 OK -2022/01/31 14:35:58.173 OK -C_VEL_FILTER_SIZE) +epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE) epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE) epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE) -epicsEnvUnset(ECMC_EC_ENC_RESET) +epicsEnvUnset(ECMCmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD}) +macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD}) +2022/02/01 11:20:31.577 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +_EC_ENC_RESET) epicsEnvUnset(ECMC_EC_ENC_ALARM_0) epicsEnvUnset(ECMC_EC_ENC_ALARM_1) epicsEnvUnset(ECMC_EC_ENC_ALARM_2) @@ -1995,26 +2165,22 @@ iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_a ecmcConfigOrDie "Cfg.SetAxisAllowCommandsFromPLC(2,1)" ecmcConfigOrDie "Cfg.SetAxisPLCEnable(2,0)" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=var a:=1|" -2022/01/31 14:35:58.173 OK -2022/01/31 14:35:58.173 OK -2022/01/31 14:35:58.173 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -2022/01/31 14:35:58.174 OK -epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted -epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted -ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" +ecmcConfigOrDie "Cfg.AppendAxis2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.578 OK +2022/02/01 11:20:31.579 OK +2022/02/01 11:20:31.579 OK +2022/02/01 11:20:31.579 OK +2022/02/01 11:20:31.579 OK +2022/02/01 11:20:31.579 OK +PLCExpr(2)=" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" @@ -2050,6 +2216,416 @@ epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE) epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE) epicsEnvUnset(ECMC_TRAJ_SOURCE) ############################################################################## +## AXIS 3: Spindle +# +epicsEnvSet("DEV", "IOC_TEST") +iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/el7201_mod.ax) +#============================================================================== +# configureAxis.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-") +epicsEnvUnset(ECMC_EXE_CMD) +epicsEnvSet("ECMC_PREFIX" "IOC_TEST:") +ecmcFileExist("./cfg/el7201_mod.ax",1) +iocshLoad ./cfg/el7201_mod.ax "" +#General +epicsEnvSet("ECMC_MOTOR_NAME", "Axis1") +epicsEnvSet("ECMC_R", "Axis1-") +epicsEnvSet("ECMC_AXIS_NO", "3") +epicsEnvSet("ECMC_DESC", "EL7201 Test") +epicsEnvSet("ECMC_EGU", "mm") # Motor Record Unit +epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision +epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver +epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0) +epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE) +epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE!=: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance +#Encoder +epicsEnvSet("ECMC_ENC_SCALE_NUM" "360") +epicsEnvSet("ECMC_ENC_SCALE_DENOM" "1048576") +epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute (in this case its single turn absolute (needs homing)) +epicsEnvSet("ECMC_ENC_BITS" "32") # Total bit count of encoder raw data +epicsEnvSet("ECMC_ENC_ABS_BITS", "20") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS +epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders) +epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s11.positionActual01") # Ethercat entry for actual position input (encoder) +epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning handled by DS402 statemachine +#Drive +epicsEnvSet("ECMC_DRV_TYPE" "1") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) +# Scalings: Amplifier Max 8000Hz = 2880000 deg/s (8kHz Reverse engineered) +epicsEnvSet("ECMC_DRV_SCALE_NUM" "2880000") # Fastest speed in engineering units +epicsEnvSet("ECMC_DRV_SCALE_DENOM" "2147483648") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET +epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s11.driveControl01") # Ethercat entry for control word or bit output +epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s11.driveStatus01") # Ethercat entry for status word or bit input +epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s11.velocitySetpoint01") # Ethercat entry for velocity setpoint output +epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "") # Ethercat entry for reduce torque output +epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output +epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_EC_DRV_RESET", "") # Reset (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_0", "") # Error 0 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_1", "") # Error 1 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_2", "") # Error 2 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_WARNING", "") # Warning (handled by ds402 statemachine, but this bit can be used anyway if needed) +#Trajectory +epicsEnvSet("ECMC_TRAJ_TYPE", "1") # Trapetz: 0, S-Curve: 1 +epicsEnvSet("ECMC_VELO", "1000.0") +epicsEnvSet("ECMC_JOG_VEL", "3600") +epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL +epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "1000") +epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration +epicsEnvSet("ECMC_JERK", "1000") # Only valid for ECMC_TRAJ_TYPE==1 +#Homing +epicsEnvSet("ECMC_HOME_PROC", "1") +epicsEnvSet("ECMC_HOME_POS", "0.0") +epicsEnvSet("ECMC_HOME_VEL_TO", "5") +epicsEnvSet("ECMC_HOME_VEL_FRM", "4") +epicsEnvSet("ECMC_HOME_ACC", "21") +epicsEnvSet("ECMC_HOME_DEC", "100") +epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing +epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing +#Controller +epicsEnvSet("ECMC_CNTRL_KP", "50") +epicsEnvSet("ECMC_CNTRL_KI", "0.1") +epicsEnvSet("ECMC_CNTRL_KD", "0.0") +epicsEnvSet("ECMC_CNTRL_KFF", "1.0") +#Monitoring +# Switches +epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s11.ONE.0") # Ethercat entry for low limit switch input +epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s11.ONE.0") # Ethercat entry for high limit switch inpuit +epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s11.ONE.0") # Ethercat entry for home switch input +epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s11.ONE.0") # Ethercat entry for external interlock input +# Softlimits (disable with 0,0,0) +epicsEnvSet("ECMC_SOFT_LOW_LIM", "0") +epicsEnvSet("ECMC_SOFT_HIGH_LIM", "0") +epicsEnvSet("ECMC_DXLM_ENABLE", "0") +# Position lag +epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5") +epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100") +epicsEnvSet("ECMC_MON_LAG_MON_ENA", "0") +# At target +epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.3") +epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100") +epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1") +# Velocity +epicsEnvSet("ECMC_MON_VELO_MAX", "100.0") +epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100") +epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200") +epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0") +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd",1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd +#============================================================================== +# addAxis.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-") +epicsEnvUnset(ECMC_EXE_CMD) +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd",1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd +#============================================================================== +# ecmc_axis-records.cmd +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd",1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd +#============================================================================== +# ecmc_axis.cmd +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd",1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(360)<>0',SUCCESS_STR='ECMC_ENC_SCALE_NUM value OK == 360...',ERROR_STR='ECMC_ENC_SCALE_NUM == 0...'" +#============================================================================== +# verifyOrDie.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(360)<>0","# ECMC_ENC_SCALE_NUM value OK == 360...", "ecmcExit Error: ECMC_ENC_SCALE_NUM == 0...") +# ECMC_ENC_SCALE_NUM value OK == 360... +epicsEnvUnset(ECMC_EXE_CMD) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(1048576)<>0',SUCCESS_STR='ECMC_ENC_SCALE_DENOM value OK == 1048576...',ERROR_STR='ECMC_ENC_SCALE_DENOM == 0...'" +#============================================================================== +# verifyOrDie.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(1048576)<>0","# ECMC_ENC_SCALE_DENOM value OK == 1048576...", "ecmcExit Error: ECMC_ENC_SCALE_DENOM == 0...") +# ECMC_ENC_SCALE_DENOM value OK == 1048576... +epicsEnvUnset(ECMC_EXE_CMD) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2880000)<>0',SUCCESS_STR='ECMC_DRV_SCALE_NUM value OK == 2880000...',ERROR_STR='ECMC_DRV_SCALE_NUM == 0...'" +#============================================================================== +# verifyOrDie.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2880000)<>0","# ECMC_DRV_SCALE_NUM value OK == 2880000...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...") +# ECMC_DRV_SCALE_NUM value OK == 2880000... +epicsEnvUnset(ECMC_EXE_CMD) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2147483648)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 2147483648...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'" +#=============================================================================2022/02/01 11:20:31.588 OK +2022/02/01 11:20:31.589 OK +2022/02/01 11:20:31.589 OK +2022/02/01 11:20:31.589 OK +2022/02/01 11:20:31.591 OK +2022/02/01 11:20:31.591 OK +2022/02/01 11:20:31.591 OK +2022/02/01 11:20:31.591 OK +2022/02/01 11:20:31.591 OK +2022/02/01 11:20:31.591 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.592 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.593 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK += +# verifyOrDie.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2147483648)<>0","# ECMC_DRV_SCALE_DENOM value OK == 2147483648...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...") +# ECMC_DRV_SCALE_DENOM value OK == 2147483648... +epicsEnvUnset(ECMC_EXE_CMD) +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '" +#============================================================================== +# issueWarning.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-") +epicsEnvUnset(ECMC_EXE_CMD) +ecmcConfigOrDie "Cfg.CreateAxis(3,1,1,1)" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.health")" +ecmcConfigOrDie "Cfg.SetAxisModRange(3, 0)" +ecmcConfigOrDie "Cfg.SetAxisModType(3, 0)" +ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_ACCL setting is deprecated. Please use ECMC_ACCS_EGU_PER_S2 instead..'" +#============================================================================== +# issueWarning.cmd +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-") +epicsEnvUnset(ECMC_EXE_CMD) +ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCL,"'EMPTY'!='EMPTY'","", "#-") +ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCS,"'EMPTY'=='EMPTY'","", "#-") + ecmcConfigOrDie "Cfg.SetAxisAcc(3,1000)" + ecmcConfigOrDie "Cfg.SetAxisDec(3,1000)" +ecmcConfigOrDie "Cfg.SetAxisJerk(3,1000)" +ecmcConfigOrDie "Cfg.SetAxisVel(3,1000.0)" +ecmcConfigOrDie "Cfg.SetAxisEmergDeceleration(3,1000)" +ecmcConfigOrDie "Cfg.SetAxisHomeVelTwordsCam(3,5)" +ecmcConfigOrDie "Cfg.SetAxisHomeVelOffCam(3,4)" +ecmcConfigOrDie "Cfg.SetAxisCntrlKp(3,50)" +ecmcConfigOrDie "Cfg.SetAxisCntrlKi(3,0.1)" +ecmcConfigOrDie "Cfg.SetAxisCntrlKd(3,0.0)" +ecmcConfigOrDie "Cfg.SetAxisCntrlKff(3,1.0)" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.positionActual01,"ax3.enc.actpos")" +ecmcConfigOrDie "Cfg.SetAxisEncScaleDenom(3,1048576)" +ecmcConfigOrDie "Cfg.SetAxisEncScaleNum(3,360)" +ecmcConfigOrDie "Cfg.SetAxisEncType(3,0)" +ecmcConfigOrDie "Cfg.SetAxisEncBits(3,32)" +ecmcConfigOrDie "Cfg.SetAxisEncAbsBits(3,20)" +ecmcConfigOrDie "Cfg.SetAxisEncOffset(3,0)" +ecmcConfigOrDie "Cfg.SetAxisEncVelFilterSize(3,100)" +ecmcConfigOrDie "Cfg.SetAxisEncPosFilterSize(3,1)" +ecmcConfigOrDie "Cfg.SetAxisEncPosFilterEnable(3,0)" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.reset")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.alarm0")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.alarm1")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.alarm2")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.warning")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.latchpos")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.latchcontrol")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.latchstatus")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.driveControl01,"ax3.drv.control")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.driveStatus01,"ax3.drv.status")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.velocitySetpoint01,"ax3.drv.velocity")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.position")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.brake")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.reducetorque")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.reset")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.alarm0")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.alarm1")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.alarm2")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.warning")" +ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(3,2147483648)" +ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(3,2880000)" +ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(3,0)" +ecmcConfigOrDie "Cfg.SetAxisDrvBrake2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.594 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.595 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.596 OK +2022/02/01 11:20:31.597 ecmcMotorRecord:: setIntegerParam(3 motorPowerAutoOnOff_)=2 +2022/02/01 11:20:31.597 ecmcMotorRecord:: setDoubleParam(3 motorPowerOnDelay_)=6 +2022/02/01 11:20:31.597 ecmcMotorRecord:: setDoubleParam(3 motorPowerOffDelay_=-1 +2022/02/01 11:20:31.597 ecmcMotorRecord:: connected(3) +2022/02/01 11:20:31.597 ecmcMotorRecord:: initialPoll(3) status=0 +CloseAheadTime(3,0)" +ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(3,0)" +ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(3,0)" +ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(3,0)" +ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(3,0)" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.lowlim")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.highlim")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.homesensor")" +ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.extinterlock")" +ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTol(3,0.3)" +ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTime(3,100)" +ecmcConfigOrDie "Cfg.SetAxisMonEnableAtTargetMon(3,1)" +ecmcConfigOrDie "Cfg.SetAxisMonPosLagTol(3,5)" +ecmcConfigOrDie "Cfg.SetAxisMonPosLagTime(3,100)" +ecmcConfigOrDie "Cfg.SetAxisMonEnableLagMon(3,0)" +ecmcConfigOrDie "Cfg.SetAxisMonMaxVel(3,100.0)" +ecmcConfigOrDie "Cfg.SetAxisMonEnableMaxVel(3,0)" +ecmcConfigOrDie "Cfg.SetAxisMonMaxVelDriveILDelay(3,200)" +ecmcConfigOrDie "Cfg.SetAxisMonMaxVelTrajILDelay(3,100)" +ecmcConfigOrDie "Cfg.SetAxisMonHomeSwitchPolarity(3,0)" +ecmcConfigOrDie "Cfg.SetAxisHomeLatchCountOffset(3,0.0)" +ecmcConfigOrDie "Cfg.SetAxisHomePosition(3,0.0)" +ecmcConfigOrDie "Cfg.SetAxisHomePostMoveEnable(3, 0)" +ecmcConfigOrDie "Cfg.SetAxisHomePostMoveTargetPosition(3, 0)" + ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd",1) + iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd +#============================================================================== +# ecmc_axis_mr.cmd +ecmcMotorRecordCreateAxis(MCU1, "3", "6", ) +ecmcEpicsEnvSetCalc("ECMC_TEMP_SREV","if(abs(1048576)>0){RESULT:=abs(1048576);} else {RESULT:=1.0};","%d") +ecmcEpicsEnvSetCalc("ECMC_TEMP_UREV","if(abs(360)>0){RESULT:=abs(360);} else {RESULT:=1.0};","%lf") +ecmcFileExist(ecmcMotorRecord.template,1,1) + dbLoadRecords(ecmcMotorRecord.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=3, DESC=EL7201 Test, EGU=mm, PREC=3, VELO=1000.0, JVEL=3600, JAR=0.0, ACCS=1000, RDBD=0.3, DLLM=0, DHLM=0, HOMEPROC=1,SREV=1048576,UREV=360.000000, ") +epicsEnvSet("ECMC_AXISFIELDINIT", "") +ecmcFileExist(ecmcMotorRecordhome.template,1,1) +dbLoadRecords(ecmcMotorRecordhome.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=3,HOMEPROC=1, HOMEPOS=0.0, HVELTO=5, HVELFRM=4, HOMEACC=21, HOMEDEC=100") +epicsEnvUnset(ECMC_TEMP_SREV) +epicsEnvUnset(ECMC_TEMP_UREV) +epicsEnvUnset(ECMC_BLOCK_ACCL) +epicsEnvUnset(ECMC_BLOCK_ACCS) +ecmcFileExist("ecmcAxis.db",1,1) +dbLoadRecords("ecmcAxis.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_NO=3,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2") +ecmcFileExist("ecmcAxisType.db",1,1) +dbLoadRecords("ecmcAxisType.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_TYPE=1") +ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd,1) +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd +#============================================================================== +# ecmc_axis_unset.cmd +epicsEnvUnset(ECMC_AXISCONFIG) +epicsEnvUnset(ECMC_AXISFIELDINIT) +epicsEnvUnset(ECMC_PREC) +epicsEnvUnset(ECMC_EGU) +epicsEnvUnset(ECMC_DESC) +epicsEnvUnset(ECMC_R) +epicsEnvUnset(ECMC_MOTOR_NAME) +epicsEnvUnset(ECMC_EC_AXIS_HEALTH) +epicsEnvUnset(ECMC_MOD_RANGE) +epicsEnvUnset(ECMC_MOD_TYPE) +epicsEnvUnset(ECMC_EMERG_DECEL) +epicsEnvUnset(ECMC_VELO) +epicsEnvUnset(ECMC_ACCL) +epicsEnvUnset(ECMC_ACCS_EGU_PER_S2) +epicsEnvUnset(ECMC_HOME_VEL_TO) +epicsEnvUnset(ECMC_HOME_VEL_FRM) +epicsEnvUnset(ECMC_CNTRL_KP) +epicsEnvUnset(ECMC_CNTRL_KI) +epicsEnvUnset(ECMC_CNTRL_KD) +epicsEnvUnset(ECMC_CNTRL_KFF) +epicsEnvUnset(ECMC_EC_ENC_ACTPOS) +epicsEnvUnset(ECMC_EC_ENC_LATCHPOS) +epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL) +epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS) +epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET) +epicsEnvUnset(ECMC_ENC_SCALE_DENOM) +epicsEnvUnset(ECMC_ENC_SCALE_NUM) +epicsEnvUnset(ECMC_ENC_TYPE) +epicsEnvUnset(ECMC_ENC_BITS) +epicsEnvUnset(ECMC_ENC_ABS_BITS) +epicsEnvUnset(ECMC_ENC_ABS_OFFSET)epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted +epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted + +epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE) +epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE) +epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE) +epicsEnvUnset(ECMC_EC_ENC_RESET) +epicsEnvUnset(ECMC_EC_ENC_ALARM_0) +epicsEnvUnset(ECMC_EC_ENC_ALARM_1) +epicsEnvUnset(ECMC_EC_ENC_ALARM_2) +epicsEnvUnset(ECMC_EC_ENC_WARNING) +epicsEnvUnset(ECMC_EC_DRV_CONTROL) +epicsEnvUnset(ECMC_EC_DRV_STATUS) +epicsEnvUnset(ECMC_EC_DRV_VELOCITY) +epicsEnvUnset(ECMC_EC_DRV_BRAKE) +epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE) +epicsEnvUnset(ECMC_EC_DRV_RESET) +epicsEnvUnset(ECMC_EC_DRV_ALARM_0) +epicsEnvUnset(ECMC_EC_DRV_ALARM_1) +epicsEnvUnset(ECMC_EC_DRV_ALARM_2) +epicsEnvUnset(ECMC_EC_DRV_WARNING) +epicsEnvUnset(ECMC_DRV_SCALE_DENOM) +epicsEnvUnset(ECMC_DRV_SCALE_NUM) +epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME) +epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME) +epicsEnvUnset(ECMC_SOFT_LOW_LIM) +epicsEnvUnset(ECMC_DXLM_ENABLE) +epicsEnvUnset(ECMC_SOFT_HIGH_LIM) +epicsEnvUnset(ECMC_DXLM_ENABLE) +epicsEnvUnset(ECMC_EC_MON_LOWLIM) +epicsEnvUnset(ECMC_EC_MON_HIGHLIM) +epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH) +epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK) +epicsEnvUnset(ECMC_MON_AT_TARGET_TOL) +epicsEnvUnset(ECMC_MON_AT_TARGET_TIME) +epicsEnvUnset(ECMC_MON_AT_TARGET_ENA) +epicsEnvUnset(ECMC_MON_LAG_MON_TOL) +epicsEnvUnset(ECMC_MON_LAG_MON_TIME) +epicsEnvUnset(ECMC_MON_LAG_MON_ENA) +epicsEnvUnset(ECMC_MON_VELO_MAX) +epicsEnvUnset(ECMC_MON_VELO_MAX_ENA) +epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME) +epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME) +epicsEnvUnset(ECMC_JOG_VEL) +epicsEnvUnset(ECMC_JAR) +epicsEnvUnset(ECMC_HOME_PROC) +epicsEnvUnset(ECMC_HOME_POS) +epicsEnvUnset(ECMC_HOME_ACC) +epicsEnvUnset(ECMC_HOME_DEC) +epicsEnvUnset(ECMC_DRV_TYPE) +epicsEnvUnset(ECMC_VELO) +epicsEnvUnset(ECMC_SOFT_LOW_LIM) +epicsEnvUnset(ECMC_SOFT_HIGH_LIM) +epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA) +epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS) +epicsEnvUnset(ECMC_TRAJ_TYPE) +epicsEnvUnset(ECMC_JERK) +epicsEnvSet("ECMC_PREFIX" "IOC_TEST:") +############################################################################## ## Load plugin: epicsEnvSet("PLUGIN_VER" ,"develop") require ecmc_plugin_grbl develop @@ -2064,30 +2640,38 @@ Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_gr Calling function ecmc_plugin_grbl_registerRecordDeviceDriver Loading module info records for ecmc_plugin_grbl epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so") -epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin -iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/loadPlugin.cmd, "PLUGIN_ID=0,FILE=/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,CONFIG='DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;', REPORT=1" +epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin +iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/loadPlugin.cmd, "PLUGIN_ID=0,FILE=/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,CONFIG='DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1;', REPORT=1" #============================================================================== # loadPlugin.cmd -ecmcConfigOrDie "Cfg.LoadPlugin(0,/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;)" -../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:390 +ecmcConfigOrDie "Cfg.LoadPlugin(0,/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1;)" +../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:389 ../grbl/grbl_serial.c:serial_init:108: ../grbl/grbl_eeprom.c:ecmc_init_file:53 -../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:275 -GRBL: INFO: Waiting for grbl init..../grbl/grbl_settings.c:settings_restore:132 settings_restore complete!!!.. -../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file.. -../grbl/grbl_stepper.c:stepper_init:605: +GRBL: INFO: Waiting for grbl init..../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:274 +../grbl/grbl_settings.c:settings_restore:132 settings_restore complete!!!.. +../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by f2022/02/01 11:20:31.751 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000013 +2022/02/01 11:20:31.751 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000018 +2022/02/01 11:20:31.752 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 +2022/02/01 11:20:31.752 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL +2022/02/01 11:20:31.752 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000014 +2022/02/01 11:20:31.752 ecmcMotorRecord:: poll(3) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 +2022/02/01 11:20:31.752 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL +2022/02/01 11:20:31.810 OK +2022/02/01 11:20:31.811 OK +ile.. +../grbl/grbl_stepper.c:stepper_init:609: ../grbl/grbl_system.c:system_init:26: ../grbl/grbl_gcode.c:gc_init:44: ../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file.. ../grbl/grbl_spindle_control.c:spindle_init:31 Not supported yet.. -..2022/01/31 14:35:58.380 OK -2022/01/31 14:35:58.381 OK -/grbl/grbl_coolant_control.c:coolant_init:25 Not supported yet.. +../grbl/grbl_spindle_control.c:spindle_stop:110 Not supported yet.. +../grbl/grbl_coolant_control.c:coolant_init:25 Not supported yet.. ../grbl/grbl_limits.c:limits_init:44 Not supported yet.. ../grbl/grbl_probe.c:probe_init:31 Not supported yet.. -../grbl/grbl_stepper.c:st_reset:572: +../grbl/grbl_stepper.c:st_reset:576: ../grbl/grbl_stepper.c:st_go_idle:259: -../grbl/grbl_stepper.c:st_generate_step_dir_invert_masks:550: +../grbl/grbl_stepper.c:st_generate_step_dir_invert_masks:554: ../grbl/grbl_protocol.c:protocol_main_loop:40: ../grbl/grbl_system.c:system_check_safety_door_ajar:93: ../grbl/grbl_system.c:system_execute_startup:107: @@ -2112,123 +2696,109 @@ Plugin info: AUTO_START=<1/0>: Auto start g-code at ecmc start, default = disabled (=0). Filename = /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so - Config string = DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1; + Config string = DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1; Version = 2 Interface version = 65536 (ecmc = 65536) max plc funcs = 64 max plc func args = 10 max plc consts = 64 - Construct func = @0xb4e5ea70 - Enter realtime func = @0xb4e5e9e8 - Exit realtime func = @0xb4e5e9b4 - Realtime func = @0xb4e5e9e4 - Destruct func = @0xb4e5e9bc - dlhandle = @0x86a808 + Construct func = @0xb4e1dc40 + Enter realtime func = @0xb4e1db90 + Exit realtime func = @0xb4e1db5c + Realtime func = @0xb4e1db8c + Destruct func = @0xb4e1db64 + dlhandle = @0x1eccce8 Plc functions: funcs[00]: Name = "grbl_set_execute(arg0);" Desc = double grbl_set_execute() : Trigg execution of loaded g-code at positive edge of Arg count = 1 - func = @0xb4e5e9ec + func = @0xb4e1db94 funcs[01]: Name = "grbl_mc_halt(arg0);" Desc = double grbl_mc_halt() : Halt grbl motion at positive edge of Arg count = 1 - func = @0xb4e5ea08 + func = @0xb4e1dbb0 funcs[02]: Name = "grbl_mc_resume(arg0);" Desc = double grbl_mc_resume() : Resume halted grbl motion at positive edge of Arg count = 1 - func = @0xb4e5ea24 + func = @0xb4e1dbcc funcs[03]: Name = "grbl_mc_reset(arg0);" Desc = double grbl_mc_reset() : Reset grbl at positive edge of Arg count = 1 - func = @0xb4e5ea40 + func = @0xb4e1dbe8 funcs[04]: Name = "grbl_get_busy();" - Desc = double grbl_get_busy() : Get grbl system busy + Desc = double grbl_get_busy() : Get grbl system busy (still executing motion code) Arg count = 0 - func = @0xb4e5ea5c + func = @0xb4e1dc04 + funcs[05]: + Name = "grbl_get_parser_busy();" + Desc = double grbl_get_parser_busy() : Get g-code parser busy. + Arg count = 0 + func = @0xb4e1dc18 + funcs[06]: + Name = "grbl_get_code_row_num();" + Desc = double grbl_get_code_row_num() : Get g-code row number currently preparing for exe. + Arg count = 0 + func = @0xb4e1dc2c Plc constants: epicsEnvUnset(ECMC_PLUGIN_REPORT); -epicsEnvUnset(ECMC_PLUGIN_FILNAME) +epicsEnvUnset(# +# Test of GRBL plugin for g-code parsing +# + +println('GRBL busy:', grbl_get_busy()); + +if(not(grbl_get_busy())) { + static.counter+=1; + println('Retrigger g-code. Counter: ', static.counter); + grbl_set_execute(0); + grbl_set_execute(1); +}; +2022/02/01 11:20:31.841 OK +2022/02/01 11:20:31.842 OK +2022/02/01 11:20:31.853 OK +2022/02/01 11:20:31.853 OK +2022/02/01 11:20:31.853 OK +2022/02/01 11:20:31.853 OK +2022/02/01 11:20:31.853 OK +2022/02/01 11:20:31.854 OK +ECMC_PLUGIN_FILNAME) epicsEnvUnset(ECMC_PLUGIN_CONFIG) ecmcGrblLoadFile("./cfg/test.nc",0) -../ecmc_plugin_grbl/ecmcGrbl.cpp:loadFile:763: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 1 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 2 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 3 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 4 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 5 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 6 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 7 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 8 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 9 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 10 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 11 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 12 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 13 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 14 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 15 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 16 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 17 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 18 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 19 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 20 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 21 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 22 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 23 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 24 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 25 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 26 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 27 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 28 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 29 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 30 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 31 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 32 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 33 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 34 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 35 -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 36 +../ecmc_plugin_grbl/ecmcGrbl.cpp:loadFile:758: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 1 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 2 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 3 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 4 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 5 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 6 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 7 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 8 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 9 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 10 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 11 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 12 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 13 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:746: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:753: GRBL: INFO: Buffer size 14 #ecmcGrblAddCommand("G1X20Y20F360"); #ecmcGrblAddCommand("G4P2"); #ecmcGrblAddCommand("G2X0Y0R20"); @@ -2236,199 +2806,7 @@ ecmcGrblLoadFile("./cfg/test.nc",0) #ecmcGrblAddCommand("G0X10Y10"); #ecmcGrblAddCommand("G4P2"); #ecmcGrblAddCommand("G1X0Y0"); -#ecmcGrblAddCommand("G2X0adadsdY0R20" -# -# Test of GRBL plugin for g-code parsing -# - -println('GRBL busy:', grbl_get_busy()); - -if(not(grbl_get_busy())) { - println('Retrigger g-code!!'); - grbl_set_execute(0); - grbl_set_execute(1); -}; -2022/01/31 14:35:58.413 OK -2022/01/31 14:35:58.413 OK -2022/01/31 14:35:58.430 OK -2022/01/31 14:35:58.431 OK -2022/01/31 14:35:58.431 OK -2022/01/31 14:35:58.432 OK -2022/01/31 14:35:58.432 OK -2022/01/31 14:35:58.433 OK -2022/01/31 14:35:58.455 INFO: Locking memory -2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). -2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). -2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). -2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011). -2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/31 14:35:58.591 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000077 -2022/01/31 14:35:58.591 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 -2022/01/31 14:35:58.591 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL -2022/01/31 14:35:58.623 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012 -2022/01/31 14:35:58.623 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 -2022/01/31 14:35:58.623 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL -2022/01/31 14:35:58.629 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s). -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) homed=1 -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000065 -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 -2022/01/31 14:35:58.824 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000026 -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 -2022/01/31 14:35:58.824 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" -2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) -2022/01/31 14:35:59.024 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012 -2022/01/31 14:35:59.024 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000005 -2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(1) LLS=0 -2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(1) HLS=0 -2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000087 -2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(2) LLS=0 -2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(2) HLS=0 -2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000037 -2022/01/31 14:35:59.424 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000012 -2022/01/31 14:35:59.424 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000006 -2022/01/31 14:35:59.464 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state. -2022/01/31 14:35:59.625 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000013 -2022/01/31 14:35:59.625 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000005 -2022/01/31 14:35:59.629 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s). -2022/01/31 14:35:59.694 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state. -2022/01/31 14:35:59.825 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000076 -2022/01/31 14:35:59.825 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000006 -2022/01/31 14:36:00.025 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011 -2022/01/31 14:36:00.025 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000006 -2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011 -2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 -2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=0 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL -2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007 -2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 -2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL -2022/01/31 14:36:00.426 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011 -2022/01/31 14:36:00.426 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000005 -2022/01/31 14:36:00.626 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000058 -2022/01/31 14:36:00.626 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006 -2022/01/31 14:36:00.826 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000019 -2022/01/31 14:36:00.826 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011 -2022/01/31 14:36:01.026 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000012 -2022/01/31 14:36:01.026 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006 -2022/01/31 14:36:01.227 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000012 -2022/01/31 14:36:01.227 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006 -2022/01/31 14:36:01.427 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011 -2022/01/31 14:36:01.427 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007 -2022/01/31 14:36:01.627 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000010 -2022/01/31 14:36:01.627 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007 -2022/01/31 14:36:01.629 EtherCAT bus started! -2022/01/31 14:36:01.629 OK -2022/01/31 14:36:01.630 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true. -Starting iocInit -2022/01/31 14:36:01.630 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true. -2022/01/31 14:36:01.645 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true. -2022/01/31 14:36:01.657 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true. -2022/01/31 14:36:01.657 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true. -2022/01/31 14:36:01.657 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true. -2022/01/31 14:36:01.666 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true. -2022/01/31 14:36:01.676 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.positionActual01 linked to record (asyn reason 1). -2022/01/31 14:36:01.677 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderLatchPostion01 linked to record (asyn reason 2). -2022/01/31 14:36:01.678 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderControl01 linked to record (asyn reason 3). -2022/01/31 14:36:01.679 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderValue01 linked to record (asyn reason 4). -2022/01/31 14:36:01.680 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.positionActual01 linked to record (asyn reason 5). -2022/01/31 14:36:01.681 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderLatchPostion01 linked to record (asyn reason 6). -2022/01/31 14:36:01.682 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderControl01 linked to record (asyn reason 7). -2022/01/31 14:36:01.683 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderValue01 linked to record (asyn reason 8). -2022/01/31 14:36:01.684 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive01 linked to record (asyn reason 9). -2022/01/31 14:36:01.685 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative01 linked to record (asyn reason 10). -2022/01/31 14:36:01.685 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive02 linked to record (asyn reason 11). -2022/01/31 14:36:01.686 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative02 linked to record (asyn reason 12). -2022/01/31 14:36:01.687 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveControl01 linked to record (asyn reason 13). -2022/01/31 14:36:01.688 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.velocitySetpoint01 linked to record (asyn reason 14). -2022/01/31 14:36:01.690 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.positionActual01 linked to record (asyn reason 15). -2022/01/31 14:36:01.691 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderLatchPostion01 linked to record (asyn reason 16). -2022/01/31 14:36:01.692 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderControl01 linked to record (asyn reason 17). -2022/01/31 14:36:01.693 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderValue01 linked to record (asyn reason 18). -2022/01/31 14:36:01.694 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveControl01 linked to record (asyn reason 19). -2022/01/31 14:36:01.696 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.velocitySetpoint01 linked to record (asyn reason 20). -2022/01/31 14:36:01.697 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.positionActual01 linked to record (asyn reason 21). -2022/01/31 14:36:01.698 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderLatchPostion01 linked to record (asyn reason 22). -2022/01/31 14:36:01.699 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderControl01 linked to record (asyn reason 23). -2022/01/31 14:36:01.700 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderValue01 linked to record (asyn reason 24). -2022/01/31 14:36:01.703 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.actpos linked to record (asyn reason 25). -2022/01/31 14:36:01.708 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.setpos linked to record (asyn reason 26). -2022/01/31 14:36:01.711 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.poserr linked to record (asyn reason 27). -2022/01/31 14:36:01.713 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.error linked to record (asyn reason 28). -2022/01/31 14:36:01.716 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.actpos linked to record (asyn reason 29). -2022/01/31 14:36:01.718 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.setpos linked to record (asyn reason 30). -2022/01/31 14:36:01.721 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.poserr linked to record (asyn reason 31). -2022/01/31 14:36:01.723 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.error linked to record (asyn reason 32). -2022/01/31 14:36:01.726 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.scantime linked to record (asyn reason 33). -2022/01/31 14:36:01.729 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.error linked to record (asyn reason 34). -2022/01/31 14:36:01.731 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.appmode linked to record (asyn reason 35). -2022/01/31 14:36:01.734 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.id linked to record (asyn reason 36). -2022/01/31 14:36:01.736 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.min linked to record (asyn reason 37). -2022/01/31 14:36:01.739 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.max linked to record (asyn reason 38). -2022/01/31 14:36:01.741 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.min linked to record (asyn reason 39). -2022/01/31 14:36:01.744 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.max linked to record (asyn reason 40). -2022/01/31 14:36:01.748 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.min linked to record (asyn reason 41). -2022/01/31 14:36:01.749 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.max linked to record (asyn reason 42). -2022/01/31 14:36:01.751 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.min linked to record (asyn reason 43). -2022/01/31 14:36:01.752 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.max linked to record (asyn reason 44). -2022/01/31 14:36:01.754 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput01 linked to record (asyn reason 45). -2022/01/31 14:36:01.756 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput02 linked to record (asyn reason 46). -2022/01/31 14:36:01.758 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput03 linked to record (asyn reason 47). -2022/01/31 14:36:01.762 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput04 linked to record (asyn reason 48). -2022/01/31 14:36:01.765 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput05 linked to record (asyn reason 49). -2022/01/31 14:36:01.767 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput06 linked to record (asyn reason 50). -2022/01/31 14:36:01.769 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput07 linked to record (asyn reason 51). -2022/01/31 14:36:01.772 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput08 linked to record (asyn reason 52). -2022/01/31 14:36:01.775 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput01 linked to record (asyn reason 53). -2022/01/31 14:36:01.778 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput02 linked to record (asyn reason 54). -2022/01/31 14:36:01.780 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput03 linked to record (asyn reason 55). -2022/01/31 14:36:01.783 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput04 linked to record (asyn reason 56). -2022/01/31 14:36:01.786 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput05 linked to record (asyn reason 57). -2022/01/31 14:36:01.789 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput06 linked to record (asyn reason 58). -2022/01/31 14:36:01.792 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput07 linked to record (asyn reason 59). -2022/01/31 14:36:01.797 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput08 linked to record (asyn reason 60). -2022/01/31 14:36:01.799 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.powerOk01 linked to record (asyn reason 61). -2022/01/31 14:36:01.805 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.overload01 linked to record (asyn reason 62). -2022/01/31 14:36:01.809 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput01 linked to record (asyn reason 63). -2022/01/31 14:36:01.812 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput02 linked to record (asyn reason 64). -2022/01/31 14:36:01.816 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.enable linked to record (asyn reason 65). -2022/01/31 14:36:01.819 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.firstscan linked to record (asyn reason 66). -2022/01/31 14:36:01.824 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.enable linked to record (asyn reason 67). -2022/01/31 14:36:01.827 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000018 -2022/01/31 14:36:01.827 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000008 -2022/01/31 14:36:01.828 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.firstscan linked to record (asyn reason 68). -2022/01/31 14:36:01.831 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.ok linked to record (asyn reason 69). -2022/01/31 14:36:01.835 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.diagnostic linked to record (asyn reason 70). -2022/01/31 14:36:01.837 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.plc.expression linked to record (asyn reason 71). -2022/01/31 14:36:01.839 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.diagnostic linked to record (asyn reason 72). -2022/01/31 14:36:01.842 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.plc.expression linked to record (asyn reason 73). -2022/01/31 14:36:01.844 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.msg linked to record (asyn reason 74). -2022/01/31 14:36:01.846 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.updated linked to record (asyn reason 75). -2022/01/31 14:36:01.849 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.command linked to record (asyn reason 76). -2022/01/31 14:36:01.854 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.command linked to record (asyn reason 77). -); +#ecmcGrblAddCommand("G2X0adadsdY0R20"); #ecmcGrblAddCommand("G1X0Y20"); #ecmcGrblAddCommand("G1X10Y0F360"); #ecmcGrblAddCommand("G4P1"); @@ -2469,7 +2847,245 @@ ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)" ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)" ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)" -iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setAppMode.cmd) +iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setAppMo2022/02/01 11:20:31.858 INFO: Locking memory +2022/02/01 11:20:31.952 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000019 +2022/02/01 11:20:31.952 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000007 +2022/02/01 11:20:31.952 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000007 +2022/02/01 11:20:31.959 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). +2022/02/01 11:20:31.959 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). +2022/02/01 11:20:31.959 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). +2022/02/01 11:20:31.959 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). +2022/02/01 11:20:31.959 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 11: Not operational (0x24011). +2022/02/01 11:20:31.959 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/02/01 11:20:31.984 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s). +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(1) homed=1 +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000069 +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 +2022/02/01 11:20:32.152 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000007 +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 +2022/02/01 11:20:32.152 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(3) LLS=0 +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(3) HLS=0 +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(3) mvnNRdy=0 bBusy=0 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000037 +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(3) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 +2022/02/01 11:20:32.152 ecmcMotorRecord:: sErrorMessage(3)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" +2022/02/01 11:20:32.152 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) +2022/02/01 11:20:32.353 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000116 +2022/02/01 11:20:32.353 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012 +2022/02/01 11:20:32.553 ecmcMotorRecord:: poll(1) LLS=0 +2022/02/01 11:20:32.553 ecmcMotorRecord:: poll(1) HLS=0 +2022/02/01 11:20:32.553 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000104 +2022/02/01 11:20:32.553 ecmcMotorRecord:: poll(2) LLS=0 +2022/02/01 11:20:32.553 ecmcMotorRecord:: poll(2) HLS=0 +2022/02/01 11:20:32.553 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000062 +2022/02/01 11:20:32.753 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:32.753 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:32.875 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state. +2022/02/01 11:20:32.954 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:32.954 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000018 +2022/02/01 11:20:32.984 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s). +2022/02/01 11:20:33.105 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state. +2022/02/01 11:20:33.154 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:33.154 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:33.354 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000009 +2022/02/01 11:20:33.354 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000005 +2022/02/01 11:20:33.554 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000010 +2022/02/01 11:20:33.554 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:33.754 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:33.754 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:33.955 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000062 +2022/02/01 11:20:33.955 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:33.984 Starting up EtherCAT bus: 2 second(s). Max wait time 30 second(s). +2022/02/01 11:20:34.155 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:34.155 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:34.355 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:34.355 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:34.555 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:34.555 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:34.755 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:34.756 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:34.956 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:34.956 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:34.985 Starting up EtherCAT bus: 3 second(s). Max wait time 30 second(s). +2022/02/01 11:20:35.156 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:35.156 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:35.356 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:35.356 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:35.556 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:35.556 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:35.756 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:35.757 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:35.957 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:35.957 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:35.985 Starting up EtherCAT bus: 4 second(s). Max wait time 30 second(s). +2022/02/01 11:20:36.157 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:36.157 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:36.357 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:36.357 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:36.557 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:36.557 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:36.758 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000069 +2022/02/01 11:20:36.758 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000011 +2022/02/01 11:20:36.958 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:36.958 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:36.969 ../devEcmcSup/ethercat/ecmcEc.cpp/checkState:573: ERROR_EC_AL_STATE_PREOP (0x2600f). +2022/02/01 11:20:36.985 Starting up EtherCAT bus: 5 second(s). Max wait time 30 second(s). +2022/02/01 11:20:37.158 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:37.158 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:37.358 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:37.358 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000005 +2022/02/01 11:20:37.558 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:37.559 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:37.759 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:37.759 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000007 +2022/02/01 11:20:37.959 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:37.959 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:37.985 Starting up EtherCAT bus: 6 second(s). Max wait time 30 second(s). +2022/02/01 11:20:38.159 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:38.159 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:38.359 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:38.359 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=25.89 time=0.000006 +2022/02/01 11:20:38.473 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). +2022/02/01 11:20:38.473 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). +2022/02/01 11:20:38.473 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). +2022/02/01 11:20:38.473 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). +2022/02/01 11:20:38.473 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). +2022/02/01 11:20:38.473 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=0 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000008 +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(3) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 +2022/02/01 11:20:38.560 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL +2022/02/01 11:20:38.760 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:38.760 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000007 +2022/02/01 11:20:38.960 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:38.960 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 +2022/02/01 11:20:39.160 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000010 +2022/02/01 11:20:39.160 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000007 +2022/02/01 11:20:39.361 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:39.361 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000008 +2022/02/01 11:20:39.561 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:39.561 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 +2022/02/01 11:20:39.761 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000016 +2022/02/01 11:20:39.761 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 +2022/02/01 11:20:39.961 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000015 +2022/02/01 11:20:39.961 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000007 +2022/02/01 11:20:39.985 EtherCAT bus started! +2022/02/01 11:20:39.985 OK +2022/02/01 11:20:39.985 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true. +Starting iocInit +2022/02/01 11:20:39.985 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true. +2022/02/01 11:20:40.001 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true. +2022/02/01 11:20:40.007 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true. +2022/02/01 11:20:40.008 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true. +2022/02/01 11:20:40.008 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true. +2022/02/01 11:20:40.019 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true. +2022/02/01 11:20:40.023 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.positionActual01 linked to record (asyn reason 1). +2022/02/01 11:20:40.024 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderLatchPostion01 linked to record (asyn reason 2). +2022/02/01 11:20:40.024 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderControl01 linked to record (asyn reason 3). +2022/02/01 11:20:40.024 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderValue01 linked to record (asyn reason 4). +2022/02/01 11:20:40.025 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.positionActual01 linked to record (asyn reason 5). +2022/02/01 11:20:40.025 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderLatchPostion01 linked to record (asyn reason 6). +2022/02/01 11:20:40.025 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderControl01 linked to record (asyn reason 7). +2022/02/01 11:20:40.025 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderValue01 linked to record (asyn reason 8). +2022/02/01 11:20:40.026 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive01 linked to record (asyn reason 9). +2022/02/01 11:20:40.026 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative01 linked to record (asyn reason 10). +2022/02/01 11:20:40.027 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive02 linked to record (asyn reason 11). +2022/02/01 11:20:40.028 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative02 linked to record (asyn reason 12). +2022/02/01 11:20:40.029 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveControl01 linked to record (asyn reason 13). +2022/02/01 11:20:40.030 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.velocitySetpoint01 linked to record (asyn reason 14). +2022/02/01 11:20:40.030 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.positionActual01 linked to record (asyn reason 15). +2022/02/01 11:20:40.032 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderLatchPostion01 linked to record (asyn reason 16). +2022/02/01 11:20:40.033 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderControl01 linked to record (asyn reason 17). +2022/02/01 11:20:40.034 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderValue01 linked to record (asyn reason 18). +2022/02/01 11:20:40.035 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveControl01 linked to record (asyn reason 19). +2022/02/01 11:20:40.035 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.velocitySetpoint01 linked to record (asyn reason 20). +2022/02/01 11:20:40.036 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.positionActual01 linked to record (asyn reason 21). +2022/02/01 11:20:40.037 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderLatchPostion01 linked to record (asyn reason 22). +2022/02/01 11:20:40.037 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderControl01 linked to record (asyn reason 23). +2022/02/01 11:20:40.038 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderValue01 linked to record (asyn reason 24). +2022/02/01 11:20:40.039 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.driveControl01 linked to record (asyn reason 25). +2022/02/01 11:20:40.039 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.velocitySetpoint01 linked to record (asyn reason 26). +2022/02/01 11:20:40.040 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.positionActual01 linked to record (asyn reason 27). +2022/02/01 11:20:40.041 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.actpos linked to record (asyn reason 28). +2022/02/01 11:20:40.042 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.setpos linked to record (asyn reason 29). +2022/02/01 11:20:40.043 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.poserr linked to record (asyn reason 30). +2022/02/01 11:20:40.043 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax3.plc.error linked to record (asyn reason 31). +2022/02/01 11:20:40.045 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.actpos linked to record (asyn reason 32). +2022/02/01 11:20:40.046 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.setpos linked to record (asyn reason 33). +2022/02/01 11:20:40.047 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.poserr linked to record (asyn reason 34). +2022/02/01 11:20:40.048 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.error linked to record (asyn reason 35). +2022/02/01 11:20:40.049 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.scantime linked to record (asyn reason 36). +2022/02/01 11:20:40.050 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.error linked to record (asyn reason 37). +2022/02/01 11:20:40.051 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.appmode linked to record (asyn reason 38). +2022/02/01 11:20:40.052 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.id linked to record (asyn reason 39). +2022/02/01 11:20:40.054 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.min linked to record (asyn reason 40). +2022/02/01 11:20:40.055 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.max linked to record (asyn reason 41). +2022/02/01 11:20:40.056 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.min linked to record (asyn reason 42). +2022/02/01 11:20:40.057 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.max linked to record (asyn reason 43). +2022/02/01 11:20:40.058 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.min linked to record (asyn reason 44). +2022/02/01 11:20:40.059 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.max linked to record (asyn reason 45). +2022/02/01 11:20:40.060 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.min linked to record (asyn reason 46). +2022/02/01 11:20:40.061 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.max linked to record (asyn reason 47). +2022/02/01 11:20:40.062 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput01 linked to record (asyn reason 48). +2022/02/01 11:20:40.065 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput02 linked to record (asyn reason 49). +2022/02/01 11:20:40.068 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput03 linked to record (asyn reason 50). +2022/02/01 11:20:40.070 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput04 linked to record (asyn reason 51). +2022/02/01 11:20:40.072 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput05 linked to record (asyn reason 52). +2022/02/01 11:20:40.074 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput06 linked to record (asyn reason 53). +2022/02/01 11:20:40.075 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput07 linked to record (asyn reason 54). +2022/02/01 11:20:40.077 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput08 linked to record (asyn reason 55). +2022/02/01 11:20:40.078 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput01 linked to record (asyn reason 56). +2022/02/01 11:20:40.080 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput02 linked to record (asyn reason 57). +2022/02/01 11:20:40.082 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput03 linked to record (asyn reason 58). +2022/02/01 11:20:40.084 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput04 linked to record (asyn reason 59). +2022/02/01 11:20:40.086 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput05 linked to record (asyn reason 60). +2022/02/01 11:20:40.088 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput06 linked to record (asyn reason 61). +2022/02/01 11:20:40.090 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput07 linked to record (asyn reason 62). +2022/02/01 11:20:40.092 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput08 linked to record (asyn reason 63). +2022/02/01 11:20:40.094 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.powerOk01 linked to record (asyn reason 64). +2022/02/01 11:20:40.097 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.overload01 linked to record (asyn reason 65). +2022/02/01 11:20:40.099 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput01 linked to record (asyn reason 66). +2022/02/01 11:20:40.101 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput02 linked to record (asyn reason 67). +2022/02/01 11:20:40.104 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax3.plc.enable linked to record (asyn reason 68). +2022/02/01 11:20:40.108 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax3.plc.firstscan linked to record (asyn reason 69). +2022/02/01 11:20:40.111 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.enable linked to record (asyn reason 70). +2022/02/01 11:20:40.114 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.firstscan linked to record (asyn reason 71). +2022/02/01 11:20:40.117 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.ok linked to record (asyn reason 72). +2022/02/01 11:20:40.121 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.diagnostic linked to record (asyn reason 73). +2022/02/01 11:20:40.122 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.plc.expression linked to record (asyn reason 74). +2022/02/01 11:20:40.124 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.diagnostic linked to record (asyn reason 75). +2022/02/01 11:20:40.125 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.plc.expression linked to record (asyn reason 76). +2022/02/01 11:20:40.127 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.msg linked to record (asyn reason 77). +2022/02/01 11:20:40.128 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.updated linked to record (asyn reason 78). +2022/02/01 11:20:40.130 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.command linked to record (asyn reason 79). +2022/02/01 11:20:40.133 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.command linked to record (asyn reason 80). +de.cmd) #============================================================================== # setAppMode.cmd ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/general.cmd",1) @@ -2504,2311 +3120,249 @@ ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI01-TimeRiseTS ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI01-TimeFallTS ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI02-TimeRiseTS ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI02-TimeFallTS -2022/01/31 14:36:01.859 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ONE linked to record (asyn reason 78). -2022/01/31 14:36:01.863 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ZERO linked to record (asyn reason 79). -2022/01/31 14:36:01.866 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ONE linked to record (asyn reason 80). -2022/01/31 14:36:01.869 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ZERO linked to record (asyn reason 81). -2022/01/31 14:36:01.871 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ONE linked to record (asyn reason 82). -2022/01/31 14:36:01.875 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ZERO linked to record (asyn reason 83). -2022/01/31 14:36:01.880 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ONE linked to record (asyn reason 84). -2022/01/31 14:36:01.884 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ZERO linked to record (asyn reason 85). -2022/01/31 14:36:01.888 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ONE linked to record (asyn reason 86). -2022/01/31 14:36:01.891 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ZERO linked to record (asyn reason 87). -2022/01/31 14:36:01.894 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ONE linked to record (asyn reason 88). -2022/01/31 14:36:01.896 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ZERO linked to record (asyn reason 89). -2022/01/31 14:36:01.899 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ONE linked to record (asyn reason 90). -2022/01/31 14:36:01.903 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ZERO linked to record (asyn reason 91). -2022/01/31 14:36:01.906 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ONE linked to record (asyn reason 92). -2022/01/31 14:36:01.910 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ZERO linked to record (asyn reason 93). -2022/01/31 14:36:01.916 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ONE linked to record (asyn reason 94). -2022/01/31 14:36:01.921 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ZERO linked to record (asyn reason 95). -2022/01/31 14:36:01.926 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.cmddata linked to record (asyn reason 96). -2022/01/31 14:36:01.929 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.cmddata linked to record (asyn reason 97). -2022/01/31 14:36:01.932 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.slavestatus linked to record (asyn reason 98). -2022/01/31 14:36:01.935 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.slavestatus linked to record (asyn reason 99). -2022/01/31 14:36:01.939 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.slavestatus linked to record (asyn reason 100). -2022/01/31 14:36:01.943 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.slavestatus linked to record (asyn reason 101). -2022/01/31 14:36:01.946 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.slavestatus linked to record (asyn reason 102). -2022/01/31 14:36:01.951 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.slavestatus linked to record (asyn reason 103). -2022/01/31 14:36:01.954 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.slavestatus linked to record (asyn reason 104). -2022/01/31 14:36:01.958 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.slavestatus linked to record (asyn reason 105). -2022/01/31 14:36:01.961 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.slavestatus linked to record (asyn reason 106). -2022/01/31 14:36:01.965 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.status linked to record (asyn reason 107). -2022/01/31 14:36:01.969 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.errorid linked to record (asyn reason 108). -2022/01/31 14:36:01.972 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.status linked to record (asyn reason 109). -2022/01/31 14:36:01.975 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.errorid linked to record (asyn reason 110). -2022/01/31 14:36:01.978 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.masterstatus linked to record (asyn reason 111). -2022/01/31 14:36:01.980 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.slavecounter linked to record (asyn reason 112). -2022/01/31 14:36:01.984 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.memmapcounter linked to record (asyn reason 113). -2022/01/31 14:36:01.988 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainfailcountertotal linked to record (asyn reason 114). -2022/01/31 14:36:01.992 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.entrycounter linked to record (asyn reason 115). -2022/01/31 14:36:01.995 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainstatus linked to record (asyn reason 116). -2022/01/31 14:36:01.998 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.control linked to record (asyn reason 117). -2022/01/31 14:36:02.002 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.control linked to record (asyn reason 118). -2022/01/31 14:36:02.006 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderStatus01 linked to record (asyn reason 119). -2022/01/31 14:36:02.010 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderStatus01 linked to record (asyn reason 120). -2022/01/31 14:36:02.013 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status01 linked to record (asyn reason 121). -2022/01/31 14:36:02.017 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status02 linked to record (asyn reason 122). -2022/01/31 14:36:02.020 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveStatus01 linked to record (asyn reason 123). -2022/01/31 14:36:02.024 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderStatus01 linked to record (asyn reason 124). -2022/01/31 14:36:02.027 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveStatus01 linked to record (asyn reason 125). -2022/01/31 14:36:02.027 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000028 -2022/01/31 14:36:02.028 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000145 -2022/01/31 14:36:02.031 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderStatus01 linked to record (asyn reason 126). -2022/01/31 14:36:02.069 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targpos linked to record (asyn reason 127). -2022/01/31 14:36:02.074 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targvelo linked to record (asyn reason 128). -2022/01/31 14:36:02.080 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targpos linked to record (asyn reason 129). -2022/01/31 14:36:02.084 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targvelo linked to record (asyn reason 130). -2022/01/31 14:36:02.101 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.enable linked to record (asyn reason 131). -2022/01/31 14:36:02.107 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.reset linked to record (asyn reason 132). -2022/01/31 14:36:02.111 ecmcMotorRecord:: setIntegerParam(1 motorUpdateStatus_)=0 -2022/01/31 14:36:02.112 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011 -2022/01/31 14:36:02.112 ecmcMotorRecord:: setIntegerParam(2 motorUpdateStatus_)=0 -2022/01/31 14:36:02.112 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000010 -2022/01/31 14:36:02.157 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true. -2022/01/31 14:36:02.157 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true. -2022/01/31 14:36:02.228 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000057 -2022/01/31 14:36:02.228 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000008 -2022/01/31 14:36:02.428 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000009 -2022/01/31 14:36:02.428 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006 -2022/01/31 14:36:02.628 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000010 -2022/01/31 14:36:02.628 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000005 -2022/01/31 14:36:02.695 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true. -2022/01/31 14:36:02.696 ecmcMotorRecord:: setIntegerParam(1 HomProc_)=3 motorNotHomedProblem=0 -2022/01/31 14:36:02.697 ecmcMotorRecord:: setIntegerParam(2 HomProc_)=3 motorNotHomedProblem=0 -2022/01/31 14:36:02.698 ecmcMotorRecord:: setDoubleParam(1 HomPos_)=0.000000 -2022/01/31 14:36:02.698 ecmcMotorRecord:: setDoubleParam(2 HomPos_)=0.000000 -2022/01/31 14:36:02.698 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true. -2022/01/31 14:36:02.706 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true. -2022/01/31 14:36:02.706 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true. -2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true. -2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true. -2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true. -2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true. -2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true. -iocRun: All initialization complete -2022/01/31 14:36:02.784 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true. -2022/01/31 14:36:02.789 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 1): Drive hardware warning state cleared. -2022/01/31 14:36:02.789 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 2): Drive hardware warning state cleared. -2022/01/31 14:36:02.828 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=19.05 fActPosition=19.05 time=0.000019 -2022/01/31 14:36:02.829 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=49 fPos=0 fActPosition=0.03 time=0.000007 -2022/01/31 14:36:02.111 [devMotorAsyn.c:439 IOC_TEST:Axis1] init_record IOC_TEST:Axis1 position=19.050000 encoderPos=19.050000 velocity=0.000000 MSTAstatus=0x4d00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0 -2022/01/31 14:36:02.111 [devMotorAsyn.c:185 IOC_TEST:Axis1] init_controller IOC_TEST:Axis1 set encoder ratio=1.000000 status=0 -2022/01/31 14:36:02.111 [devMotorAsyn.c:266 IOC_TEST:Axis1] update_soft_limits IOC_TEST:Axis1 RawHLM_RO=130.000000 RawLLM_RO=-20.000000 valid=1 DHLM_RO=130.000000 DLLM_RO=-20.000000 -2022/01/31 14:36:02.111 [motorDevSup.c:327 IOC_TEST:Axis1] PositionRestoreNeeded IOC_TEST:Axis1 rstm=2 dval=0.000000 drbv=19.050000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0 -2022/01/31 14:36:02.111 [motorRecord.cc:782 IOC_TEST:Axis1] init_re_init start neverPolled=0 stat=17 nsta=0 -2022/01/31 14:36:02.111 [motorRecord.cc:720 IOC_TEST:Axis1] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000 -2022/01/31 14:36:02.111 [motorRecord.cc:4484 IOC_TEST:Axis1] pmr->dhlm=130 softLimitRO=130 -2022/01/31 14:36:02.111 [motorRecord.cc:4545 IOC_TEST:Axis1] pmr->dllm=-20 softLimitRO=-20 -2022/01/31 14:36:02.111 [motorRecord.cc:833 IOC_TEST:Axis1] init_re_init end dval=19.050000 drbv=19.050000 rdbd=0.100000 spdb=0.100000 -2022/01/31 14:36:02.111 [motorRecord.cc:968 IOC_TEST:Axis1] init_record process_reason="callbackdata + soft limits" dval=19.050000 drbv=19.050000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0x4d00 neverPolled=0 -2022/01/31 14:36:02.112 [devMotorAsyn.c:439 IOC_TEST:Axis2] init_record IOC_TEST:Axis2 position=0.000000 encoderPos=0.000000 velocity=0.000000 MSTAstatus=0x0f08 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0 -2022/01/31 14:36:02.112 [devMotorAsyn.c:185 IOC_TEST:Axis2] init_controller IOC_TEST:Axis2 set encoder ratio=1.000000 status=0 -2022/01/31 14:36:02.112 [devMotorAsyn.c:266 IOC_TEST:Axis2] update_soft_limits IOC_TEST:Axis2 RawHLM_RO=20.000000 RawLLM_RO=-130.000000 valid=1 DHLM_RO=20.000000 DLLM_RO=-130.000000 -2022/01/31 14:36:02.112 [motorDevSup.c:327 IOC_TEST:Axis2] PositionRestoreNeeded IOC_TEST:Axis2 rstm=2 dval=0.000000 drbv=0.000000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0 -2022/01/31 14:36:02.112 [motorRecord.cc:782 IOC_TEST:Axis2] init_re_init start neverPolled=0 stat=17 nsta=0 -2022/01/31 14:36:02.112 [motorRecord.cc:720 IOC_TEST:Axis2] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000 -2022/01/31 14:36:02.112 [motorRecord.cc:4484 IOC_TEST:Axis2] pmr->dhlm=20 softLimitRO=20 -2022/01/31 14:36:02.112 [motorRecord.cc:4545 IOC_TEST:Axis2] pmr->dllm=-130 softLimitRO=-130 -2022/01/31 14:36:02.112 [motorRecord.cc:833 IOC_TEST:Axis2] init_re_init end dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 -2022/01/31 14:36:02.112 [motorRecord.cc:968 IOC_TEST:Axis2] init_record process_reason="callbackdata + soft limits" dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0xf08 neverPolled=0 +2022/02/01 11:20:40.138 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ONE linked to record (asyn reason 81). +2022/02/01 11:20:40.141 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ZERO linked to record (asyn reason 82). +2022/02/01 11:20:40.144 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ONE linked to record (asyn reason 83). +2022/02/01 11:20:40.147 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ZERO linked to record (asyn reason 84). +2022/02/01 11:20:40.149 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ONE linked to record (asyn reason 85). +2022/02/01 11:20:40.152 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ZERO linked to record (asyn reason 86). +2022/02/01 11:20:40.155 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ONE linked to record (asyn reason 87). +2022/02/01 11:20:40.158 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ZERO linked to record (asyn reason 88). +2022/02/01 11:20:40.161 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ONE linked to record (asyn reason 89). +2022/02/01 11:20:40.161 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:40.161 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 +2022/02/01 11:20:40.164 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ZERO linked to record (asyn reason 90). +2022/02/01 11:20:40.166 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ONE linked to record (asyn reason 91). +2022/02/01 11:20:40.169 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ZERO linked to record (asyn reason 92). +2022/02/01 11:20:40.173 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ONE linked to record (asyn reason 93). +2022/02/01 11:20:40.175 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ZERO linked to record (asyn reason 94). +2022/02/01 11:20:40.178 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ONE linked to record (asyn reason 95). +2022/02/01 11:20:40.182 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ZERO linked to record (asyn reason 96). +2022/02/01 11:20:40.185 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ONE linked to record (asyn reason 97). +2022/02/01 11:20:40.187 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ZERO linked to record (asyn reason 98). +2022/02/01 11:20:40.190 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.ONE linked to record (asyn reason 99). +2022/02/01 11:20:40.193 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.ZERO linked to record (asyn reason 100). +2022/02/01 11:20:40.197 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.cmddata linked to record (asyn reason 101). +2022/02/01 11:20:40.200 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.cmddata linked to record (asyn reason 102). +2022/02/01 11:20:40.204 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.slavestatus linked to record (asyn reason 103). +2022/02/01 11:20:40.206 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.slavestatus linked to record (asyn reason 104). +2022/02/01 11:20:40.209 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.slavestatus linked to record (asyn reason 105). +2022/02/01 11:20:40.212 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.slavestatus linked to record (asyn reason 106). +2022/02/01 11:20:40.215 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.slavestatus linked to record (asyn reason 107). +2022/02/01 11:20:40.218 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.slavestatus linked to record (asyn reason 108). +2022/02/01 11:20:40.220 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.slavestatus linked to record (asyn reason 109). +2022/02/01 11:20:40.223 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.slavestatus linked to record (asyn reason 110). +2022/02/01 11:20:40.226 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.slavestatus linked to record (asyn reason 111). +2022/02/01 11:20:40.229 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.slavestatus linked to record (asyn reason 112). +2022/02/01 11:20:40.232 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.status linked to record (asyn reason 113). +2022/02/01 11:20:40.235 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.errorid linked to record (asyn reason 114). +2022/02/01 11:20:40.239 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.status linked to record (asyn reason 115). +2022/02/01 11:20:40.242 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.errorid linked to record (asyn reason 116). +2022/02/01 11:20:40.245 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.masterstatus linked to record (asyn reason 117). +2022/02/01 11:20:40.247 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.slavecounter linked to record (asyn reason 118). +2022/02/01 11:20:40.250 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.memmapcounter linked to record (asyn reason 119). +2022/02/01 11:20:40.254 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainfailcountertotal linked to record (asyn reason 120). +2022/02/01 11:20:40.257 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.entrycounter linked to record (asyn reason 121). +2022/02/01 11:20:40.260 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainstatus linked to record (asyn reason 122). +2022/02/01 11:20:40.263 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.control linked to record (asyn reason 123). +2022/02/01 11:20:40.267 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.control linked to record (asyn reason 124). +2022/02/01 11:20:40.270 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderStatus01 linked to record (asyn reason 125). +2022/02/01 11:20:40.274 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderStatus01 linked to record (asyn reason 126). +2022/02/01 11:20:40.277 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status01 linked to record (asyn reason 127). +2022/02/01 11:20:40.281 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status02 linked to record (asyn reason 128). +2022/02/01 11:20:40.284 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveStatus01 linked to record (asyn reason 129). +2022/02/01 11:20:40.288 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderStatus01 linked to record (asyn reason 130). +2022/02/01 11:20:40.291 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveStatus01 linked to record (asyn reason 131). +2022/02/01 11:20:40.295 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderStatus01 linked to record (asyn reason 132). +2022/02/01 11:20:40.298 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.driveStatus01 linked to record (asyn reason 133). +2022/02/01 11:20:40.344 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.targpos linked to record (asyn reason 134). +2022/02/01 11:20:40.348 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.targvelo linked to record (asyn reason 135). +2022/02/01 11:20:40.353 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targpos linked to record (asyn reason 136). +2022/02/01 11:20:40.358 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targvelo linked to record (asyn reason 137). +2022/02/01 11:20:40.362 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000030 +2022/02/01 11:20:40.362 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000010 +2022/02/01 11:20:40.374 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.enable linked to record (asyn reason 138). +2022/02/01 11:20:40.380 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.reset linked to record (asyn reason 139). +2022/02/01 11:20:40.384 ecmcMotorRecord:: setIntegerParam(3 motorUpdateStatus_)=0 +2022/02/01 11:20:40.385 ecmcMotorRecord:: setIntegerParam(2 motorUpdateStatus_)=0 +2022/02/01 11:20:40.385 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000010 +2022/02/01 11:20:40.434 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true. +2022/02/01 11:20:40.434 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true. +2022/02/01 11:20:40.562 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000010 +2022/02/01 11:20:40.562 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 +2022/02/01 11:20:40.384 [devMotorAsyn.c:439 IOC_TEST:Axis1] init_record IOC_TEST:Axis1 position=0.031586 encoderPos=0.031586 velocity=0.000000 MSTAstatus=0x0b0a flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0 +2022/02/01 11:20:40.384 [devMotorAsyn.c:185 IOC_TEST:Axis1] init_controller IOC_TEST:Axis1 set encoder ratio=1.000000 status=0 +2022/02/01 11:20:40.384 [devMotorAsyn.c:266 IOC_TEST:Axis1] update_soft_limits IOC_TEST:Axis1 RawHLM_RO=0.000000 RawLLM_RO=0.000000 valid=0 DHLM_RO=0.000000 DLLM_RO=0.000000 +2022/02/01 11:20:40.384 [motorDevSup.c:327 IOC_TEST:Axis1] PositionRestoreNeeded IOC_TEST:Axis1 rstm=2 dval=0.000000 drbv=0.031586 pmr->rdbd=0.300000 rdbd=0.300000 pmr->mres=0.000343 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0 +2022/02/01 11:20:40.384 [motorRecord.cc:782 IOC_TEST:Axis1] init_re_init start neverPolled=0 stat=17 nsta=0 +2022/02/01 11:20:40.384 [motorRecord.cc:720 IOC_TEST:Axis1] enforceMinRetryDeadband spdb=0.300000 rdbd=0.300000 mres=0.000343 +2022/02/01 11:20:40.384 [motorRecord.cc:833 IOC_TEST:Axis1] init_re_init end dval=0.031586 drbv=0.031586 rdbd=0.300000 spdb=0.300000 +2022/02/01 11:20:40.384 [motorRecord.cc:968 IOC_TEST:Axis1] init_record process_reason="callbackdata + soft limits" dval=0.031586 drbv=0.031586 rdbd=0.300000 spdb=0.300000 stat=0 msta=0xb0a neverPolled=0 +2022/02/01 11:20:40.384 [devMotorAsyn.c:439 IOC_TEST:Axis2] init_record IOC_TEST:Axis2 position=0.000000 encoderPos=0.000000 velocity=0.000000 MSTAstatus=0x0f00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0 +2022/02/01 11:20:40.385 [devMotorAsyn.c:185 IOC_TEST:Axis2] init_controller IOC_TEST:Axis2 set encoder ratio=1.000000 status=0 +2022/02/01 11:20:40.385 [devMotorAsyn.c:266 IOC_TEST:Axis2] update_soft_limits IOC_TEST:Axis2 RawHLM_RO=20.000000 RawLLM_RO=-130.000000 valid=1 DHLM_RO=20.000000 DLLM_RO=-130.000000 +2022/02/01 11:20:40.385 [motorDevSup.c:327 IOC_TEST:Axis2] PositionRestoreNeeded IOC_TEST:Axis2 rstm=2 dval=0.000000 drbv=0.000000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0 +2022/02/01 11:20:40.385 [motorRecord.cc:782 IOC_TEST:Axis2] init_re_init start neverPolled=0 stat=17 nsta=0 +2022/02/01 11:20:40.385 [motorRecord.cc:720 IOC_TEST:Axis2] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000 +2022/02/01 11:20:40.385 [motorRecord.cc:4484 IOC_TEST:Axis2] pmr->dhlm=20 softLimitRO=20 +2022/02/01 11:20:40.385 [motorRecord.cc:4545 IOC_TEST:Axis2] pmr->dllm=-130 softLimitRO=-130 +2022/02/01 11:20:40.385 [motorRecord.cc:833 IOC_TEST:Axis2] init_re_init end dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 +2022/02/01 11:20:40.385 [motorRecord.cc:968 IOC_TEST:Axis2] init_record process_reason="callbackdata + soft limits" dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0xf00 neverPolled=0 +2022/02/01 11:20:40.762 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000010 +2022/02/01 11:20:40.762 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 +2022/02/01 11:20:40.962 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=0 fActPosition=19.68 time=0.000010 +2022/02/01 11:20:40.962 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000006 GRBL busy: 1.00000 +2022/02/01 11:20:40.968 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true. +2022/02/01 11:20:40.968 ecmcMotorRecord:: setIntegerParam(3 HomProc_)=1 motorNotHomedProblem=0 +2022/02/01 11:20:40.968 ecmcMotorRecord:: setIntegerParam(2 HomProc_)=3 motorNotHomedProblem=0 +2022/02/01 11:20:40.969 ecmcMotorRecord:: setDoubleParam(3 HomPos_)=0.000000 +2022/02/01 11:20:40.969 ecmcMotorRecord:: setDoubleParam(2 HomPos_)=0.000000 +2022/02/01 11:20:40.970 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true. +2022/02/01 11:20:40.976 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true. +2022/02/01 11:20:40.976 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true. +2022/02/01 11:20:41.023 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true. +2022/02/01 11:20:41.023 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true. +2022/02/01 11:20:41.026 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true. +2022/02/01 11:20:41.027 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true. +2022/02/01 11:20:41.028 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true. +iocRun: All initialization complete +2022/02/01 11:20:41.074 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true. +2022/02/01 11:20:41.079 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 1): Drive hardware warning state cleared. +2022/02/01 11:20:41.079 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 2): Drive hardware warning state cleared. +2022/02/01 11:20:41.162 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=19.68 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:41.163 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=862 fPos=0 fActPosition=-0.03 time=0.000101 +2022/02/01 11:20:41.163 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=2.60453e+08 fPos=0.0315857 fActPosition=0.0343323 time=0.000009 dbpf IOC_TEST:Axis1.SPAM 0 DBF_SHORT: 0 = 0x0 dbpf IOC_TEST:Axis2.SPAM 0 DBF_SHORT: 0 = 0x0 # Set the IOC Prompt String One -epicsEnvSet IOCSH_PS1 "raspberrypi-15125 > " +epicsEnvSet IOCSH_PS1 "raspberrypi-29854 > " # -DIFF 18759 -DIFF 7667 -DIFF 9481 -DIFF 5019 -DIFF 5352 -DIFF 6759 -DIFF 5667 -DIFF 5481 -DIFF 7315 -DIFF 7315 -DIFF 6629 -DIFF 8796 -DIFF 8130 -DIFF 5389 -DIFF 7018 -DIFF 5389 -DIFF 7037 -DIFF 11111 -DIFF 6926 -DIFF 12926 -DIFF 9925 -DIFF 7907 -DIFF 12944 -DIFF 10444 -DIFF 9222 -DIFF 17259 -DIFF 13981 -DIFF 8611 -DIFF 5833 -DIFF 5722 -DIFF 6815 -DIFF 5074 -DIFF 7536 -DIFF 5371 -DIFF 6851 -DIFF 5685 -raspberrypi-15125 > 2022/01/31 14:36:03.029 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=19.05 fActPosition=19.05 time=0.000076 -2022/01/31 14:36:03.029 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=49 fPos=0 fActPosition=0.03 time=0.000006 -2022/01/31 14:36:03.229 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64899 fPos=19.048 fActPosition=19.08 time=0.000018 -2022/01/31 14:36:03.229 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=50 fPos=0.028 fActPosition=0.06 time=0.000012 -2022/01/31 14:36:03.430 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64900 fPos=19.048 fActPosition=19.05 time=0.000015 -2022/01/31 14:36:03.430 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=49 fPos=0.028 fActPosition=0.03 time=0.000010 -2022/01/31 14:36:03.630 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64900 fPos=19.048 fActPosition=19.05 time=0.000018 -2022/01/31 14:36:03.630 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=49 fPos=0.056 fActPosition=0.03 time=0.000009 -2022/01/31 14:36:03.830 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64900 fPos=19.064 fActPosition=19.05 time=0.000011 -2022/01/31 14:36:03.831 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=61 fPos=0.392 fActPosition=0.39 time=0.000006 -2022/01/31 14:36:04.031 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64899 fPos=19.1 fActPosition=19.08 time=0.000011 -2022/01/31 14:36:04.031 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=85 fPos=1.096 fActPosition=1.11 time=0.000007 -2022/01/31 14:36:04.231 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64897 fPos=19.152 fActPosition=19.14 time=0.000011 -2022/01/31 14:36:04.231 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=121 fPos=2.172 fActPosition=2.19 time=0.000007 -2022/01/31 14:36:04.431 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64895 fPos=19.208 fActPosition=19.2 time=0.000010 -2022/01/31 14:36:04.432 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=161 fPos=3.372 fActPosition=3.39 time=0.000006 -DIFF 5574 -DIFF 5648 -DIFF 6259 -DIFF 6315 -DIFF 6463 -DIFF 11389 -DIFF 10055 -DIFF 5167 -DIFF 5166 -DIFF 6388 -DIFF 8203 -DIFF 6278 -DIFF 5981 -DIFF 5259 -DIFF 6981 -DIFF 9351 -DIFF 6796 -DIFF 9759 -DIFF 7722 -DIFF 9334 -DIFF 5426 -DIFF 9814 -DIFF 9685 -DIFF 5204 -DIFF 5315 -DIFF 5389 -DIFF 5204 -DIFF 5074 -DIFF 5130 -DIFF 6167 -DIFF 5556 -DIFF 5222 -DIFF 6185 -DIFF 6796 -DIFF 5129 -DIFF 5149 -DIFF 5241 -DIFF 5204 -DIFF 5167 -DIFF 5093 -DIFF 5130 -DIFF 7129 -DIFF 6722 -DIFF 5148 -DIFF 5129 -DIFF 5277 -DIFF 5167 -DIFF 5037 -DIFF 5204 -DIFF 5315 -DIFF 5055 -DIFF 6092 -DIFF 5703 -DIFF 5296 -DIFF 5056 -DIFF 6092 -DIFF 5630 -DIFF 6000 -DIFF 5481 -DIFF 5981 -DIFF 5518 -DIFF 5518 -DIFF 6982 -DIFF 6130 -DIFF 5444 -DIFF 6056 -DIFF 5037 -DIFF 7741 -DIFF 6185 -DIFF 6037 -DIFF 7185 -DIFF 9852 -DIFF 8556 -DIFF 8407 -DIFF 7055 -DIFF 7667 -DIFF 7222 -DIFF 7130 -DIFF 8037 -DIFF 9093 -DIFF 8777 -DIFF 5981 -DIFF 5777 -DIFF 9741 -DIFF 7186 -DIFF 7333 -DIFF 10592 -DIFF 7018 -DIFF 5759 -DIFF 5277 -DIFF 5278 -DIFF 6741 -DIFF 10333 -DIFF 5482 -DIFF 9130 -DIFF 5371 -DIFF 5185 -DIFF 7334 -DIFF 5889 -DIFF 5648 -DIFF 6445 -DIFF 6019 -DIFF 10592 -DIFF 9666 -DIFF 8111 -DIFF 7648 -DIFF 6945 -DIFF 6259 -DIFF 5537 -DIFF 9981 -DIFF 13796 -DIFF 7833 -DIFF 11425 -DIFF 10537 -DIFF 7444 -DIFF 11871 -DIFF 6870 -DIFF 5908 -DIFF 9981 -DIFF 10574 -DIFF 7444 -DIFF 15870 -DIFF 9426 -DIFF 5093 -DIFF 9982 -DIFF 5092 -DIFF 5870 -DIFF 5648 -DIFF 8685 -DIFF 5204 -DIFF 5982 -DIFF 6407 -DIFF 5611 -DIFF 5166 -DIFF 8686 -DIFF 5111 -DIFF 5056 -DIFF 5055 -DIFF 5907 -DIFF 6944 -DIFF 7203 -DIFF 5277 -DIFF 5445 -DIFF 6982 -DIFF 9796 -DIFF 7111 -DIFF 5185 -DIFF 6704 -DIFF 6500 -DIFF 5111 -DIFF 5185 -DIFF 5686 -DIFF 5278 -DIFF 5759 -DIFF 6907 -DIFF 5130 -DIFF 10815 -DIFF 7592 -DIFF 6185 -DIFF 5666 -DIFF 5370 -DIFF 5388 -DIFF 8593 -DIFF 8352 -DIFF 6148 -DIFF 6370 -DIFF 5666 -DIFF 5500 -DIFF 5167 -DIFF 6370 -DIFF 6148 -DIFF 5167 -DIFF 5407 -DIFF 5241 -DIFF 5148 -DIFF 5833 -DIFF 5037 -DIFF 5778 -DIFF 5018 +raspberrypi-29854 > 2022/02/01 11:20:41.363 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64879 fPos=19.68 fActPosition=19.68 time=0.000008 +2022/02/01 11:20:41.363 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=862 fPos=0 fActPosition=-0.03 time=0.000007 +2022/02/01 11:20:41.363 ecmcMotorRecord:: poll(3) mvnNRdy=0 bBusy=0 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=2.60453e+08 fPos=0.0315857 fActPosition=0.0357056 time=0.000006 +2022/02/01 11:20:41.563 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.68 fActPosition=19.68 time=0.000012 +2022/02/01 11:20:41.564 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=862 fPos=-0.028 fActPosition=-0.03 time=0.000006 +2022/02/01 11:20:41.764 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64879 fPos=19.68 fActPosition=19.68 time=0.000010 +2022/02/01 11:20:41.764 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=862 fPos=-0.028 fActPosition=-0.03 time=0.000007 +2022/02/01 11:20:41.964 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64879 fPos=19.68 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:41.964 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=862 fPos=-0.028 fActPosition=-0.03 time=0.000006 +2022/02/01 11:20:42.164 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.684 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:42.165 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=869 fPos=0.172 fActPosition=0.18 time=0.000006 +2022/02/01 11:20:42.365 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.692 fActPosition=19.68 time=0.000011 +2022/02/01 11:20:42.365 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=888 fPos=0.74 fActPosition=0.75 time=0.000007 +2022/02/01 11:20:42.565 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64878 fPos=19.708 fActPosition=19.71 time=0.000011 +2022/02/01 11:20:42.565 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=919 fPos=1.692 fActPosition=1.68 time=0.000006 +2022/02/01 11:20:42.765 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64877 fPos=19.728 fActPosition=19.74 time=0.000012 +2022/02/01 11:20:42.766 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=960 fPos=2.892 fActPosition=2.91 time=0.000119 +2022/02/01 11:20:42.966 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64877 fPos=19.744 fActPosition=19.74 time=0.000010 +2022/02/01 11:20:42.966 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1000 fPos=4.092 fActPosition=4.11 time=0.000006 +2022/02/01 11:20:43.166 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64876 fPos=19.764 fActPosition=19.77 time=0.000011 +2022/02/01 11:20:43.166 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1040 fPos=5.292 fActPosition=5.31 time=0.000006 +2022/02/01 11:20:43.367 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64875 fPos=19.784 fActPosition=19.8 time=0.000011 +2022/02/01 11:20:43.367 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1080 fPos=6.496 fActPosition=6.51 time=0.000007 +2022/02/01 11:20:43.567 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64875 fPos=19.804 fActPosition=19.8 time=0.000010 +2022/02/01 11:20:43.567 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1120 fPos=7.696 fActPosition=7.71 time=0.000007 +2022/02/01 11:20:43.767 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64874 fPos=19.824 fActPosition=19.83 time=0.000011 +2022/02/01 11:20:43.767 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1160 fPos=8.896 fActPosition=8.91 time=0.000006 +2022/02/01 11:20:43.968 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64874 fPos=19.84 fActPosition=19.83 time=0.000069 +2022/02/01 11:20:43.968 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1200 fPos=10.104 fActPosition=10.11 time=0.000006 +2022/02/01 11:20:44.168 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64873 fPos=19.86 fActPosition=19.86 time=0.000011 +2022/02/01 11:20:44.168 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1240 fPos=11.304 fActPosition=11.31 time=0.000006 +2022/02/01 11:20:44.368 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64872 fPos=19.88 fActPosition=19.89 time=0.000012 +2022/02/01 11:20:44.368 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1280 fPos=12.504 fActPosition=12.51 time=0.000006 +2022/02/01 11:20:44.569 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64872 fPos=19.9 fActPosition=19.89 time=0.000015 +2022/02/01 11:20:44.569 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1320 fPos=13.708 fActPosition=13.71 time=0.000006 +2022/02/01 11:20:44.769 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64871 fPos=19.92 fActPosition=19.92 time=0.000011 +2022/02/01 11:20:44.769 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1360 fPos=14.908 fActPosition=14.91 time=0.000006 +2022/02/01 11:20:44.969 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64870 fPos=19.936 fActPosition=19.95 time=0.000009 +2022/02/01 11:20:44.970 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1400 fPos=16.116 fActPosition=16.11 time=0.000088 +2022/02/01 11:20:45.170 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64870 fPos=19.956 fActPosition=19.95 time=0.000009 +2022/02/01 11:20:45.170 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1440 fPos=17.316 fActPosition=17.31 time=0.000006 +2022/02/01 11:20:45.370 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.976 fActPosition=19.98 time=0.000009 +2022/02/01 11:20:45.370 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1480 fPos=18.488 fActPosition=18.51 time=0.000006 +2022/02/01 11:20:45.571 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.988 fActPosition=19.98 time=0.000009 +2022/02/01 11:20:45.571 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1509 fPos=19.36 fActPosition=19.38 time=0.000033 +2022/02/01 11:20:45.771 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=19.996 fActPosition=19.98 time=0.000009 +2022/02/01 11:20:45.771 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1525 fPos=19.864 fActPosition=19.86 time=0.000006 +2022/02/01 11:20:45.971 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000010 +2022/02/01 11:20:45.971 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1530 fPos=20 fActPosition=20.01 time=0.000007 +2022/02/01 11:20:46.171 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011 +2022/02/01 11:20:46.172 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1529 fPos=20 fActPosition=19.98 time=0.000071 +2022/02/01 11:20:46.372 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000011 +2022/02/01 11:20:46.372 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1529 fPos=20 fActPosition=19.98 time=0.000006 +2022/02/01 11:20:46.572 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011 +2022/02/01 11:20:46.572 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1529 fPos=20 fActPosition=19.98 time=0.000006 +2022/02/01 11:20:46.772 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010 +2022/02/01 11:20:46.773 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1530 fPos=20 fActPosition=20.01 time=0.000007 +2022/02/01 11:20:46.973 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000011 +2022/02/01 11:20:46.973 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1530 fPos=20 fActPosition=20.01 time=0.000006 +2022/02/01 11:20:47.173 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000008 +2022/02/01 11:20:47.173 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1530 fPos=20 fActPosition=20.01 time=0.000005 +2022/02/01 11:20:47.373 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010 +2022/02/01 11:20:47.373 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1530 fPos=20 fActPosition=20.01 time=0.000005 +2022/02/01 11:20:47.574 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000176 +2022/02/01 11:20:47.574 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1529 fPos=20 fActPosition=19.98 time=0.000006 +2022/02/01 11:20:47.774 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011 +2022/02/01 11:20:47.774 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=1530 fPos=20 fActPosition=20.01 time=0.000006 +2022/02/01 11:20:47.974 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010 +2022/02/01 11:20:47.974 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1530 fPos=19.992 fActPosition=20.01 time=0.000006 +2022/02/01 11:20:48.175 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.996 fActPosition=19.98 time=0.000010 +2022/02/01 11:20:48.175 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1520 fPos=19.712 fActPosition=19.71 time=0.000007 +2022/02/01 11:20:48.375 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.976 fActPosition=19.98 time=0.000010 +2022/02/01 11:20:48.375 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1499 fPos=19.072 fActPosition=19.08 time=0.000006 +2022/02/01 11:20:48.575 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64871 fPos=19.904 fActPosition=19.92 time=0.000009 +2022/02/01 11:20:48.575 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1465 fPos=18.06 fActPosition=18.06 time=0.000006 +2022/02/01 11:20:48.776 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64877 fPos=19.756 fActPosition=19.74 time=0.000010 +2022/02/01 11:20:48.776 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1425 fPos=16.888 fActPosition=16.86 time=0.000006 +2022/02/01 11:20:48.976 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64883 fPos=19.548 fActPosition=19.56 time=0.000010 +2022/02/01 11:20:48.976 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1389 fPos=15.792 fActPosition=15.78 time=0.000006 +2022/02/01 11:20:49.176 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64893 fPos=19.28 fActPosition=19.26 time=0.000009 +2022/02/01 11:20:49.176 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1352 fPos=14.688 fActPosition=14.67 time=0.000006 +2022/02/01 11:20:49.377 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64904 fPos=18.936 fActPosition=18.93 time=0.000008 +2022/02/01 11:20:49.377 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1316 fPos=13.572 fActPosition=13.59 time=0.000007 +2022/02/01 11:20:49.577 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64918 fPos=18.524 fActPosition=18.51 time=0.000008 +2022/02/01 11:20:49.577 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1278 fPos=12.464 fActPosition=12.45 time=0.000006 +2022/02/01 11:20:49.777 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64933 fPos=18.06 fActPosition=18.06 time=0.000008 +2022/02/01 11:20:49.778 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1243 fPos=11.408 fActPosition=11.4 time=0.000103 +2022/02/01 11:20:49.978 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64951 fPos=17.532 fActPosition=17.52 time=0.000009 +2022/02/01 11:20:49.978 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1209 fPos=10.384 fActPosition=10.38 time=0.000006 +2022/02/01 11:20:50.178 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64970 fPos=16.94 fActPosition=16.95 time=0.000008 +2022/02/01 11:20:50.178 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1176 fPos=9.376 fActPosition=9.39 time=0.000006 GRBL busy: 0.00000 -Retrigger g-code!! +Retrigger g-code. Counter: 1.00000 GRBL: INFO: Write command (command[0] = G1X20Y20F360) -Added: G1X20Y20F360DIFF 5722 -DIFF 5056 -../grbl/grbl_gcode.c:gc_execute_line:71: +Added: G1X20Y20F360../grbl/grbl_gcode.c:gc_execute_line:71: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_wake_up:228: GRBL: INFO: Reply OK (command[0] = G1X20Y20F360) -GRBL: INFO: Write command (command[1] = G4P2) -Added: G4P2../grbl/grbl_stepper.c:st_wake_up:228: -../grbl/grbl_gcode.c:gc_execute_line:71: -../grbl/grbl_motion_control.c:mc_dwell:200: -DIFF 5148 -DIFF 5741 -DIFF 5352 -DIFF 6000 -DIFF 5056 -DIFF 5315 -DIFF 5204 -DIFF 5315 -DIFF 5241 -DIFF 5574 -DIFF 5352 -DIFF 5185 -DIFF 5148 -DIFF 6241 -DIFF 7537 -DIFF 5074 -DIFF 6463 -DIFF 5333 -DIFF 7574 -DIFF 8148 -DIFF 9167 -DIFF 9444 -DIFF 6574 -DIFF 6334 -DIFF 9296 -DIFF 10260 -DIFF 7852 -DIFF 32185 -DIFF 5111 -DIFF 5741 -DIFF 7352 -DIFF 5203 -DIFF 6407 -DIFF 7963 -DIFF 11722 -DIFF 9277 -DIFF 7574 -DIFF 8222 -DIFF 6926 -DIFF 10296 -DIFF 10981 -DIFF 10111 -DIFF 10408 -DIFF 9648 -DIFF 12425 -DIFF 10129 -DIFF 12389 -DIFF 12148 -DIFF 10037 -DIFF 12963 -DIFF 7611 -DIFF 9796 -DIFF 19852 -DIFF 22314 -DIFF 23129 -DIFF 12926 -DIFF 13351 -DIFF 7036 -DIFF 23241 -DIFF 15055 -DIFF 18833 -DIFF 9852 -DIFF 19074 -DIFF 17685 -DIFF 18796 -DIFF 14129 -DIFF 10222 -DIFF 9037 -DIFF 6241 -DIFF 8574 -DIFF 8537 -DIFF 9981 -DIFF 10352 -DIFF 8407 -DIFF 8814 -DIFF 11129 -DIFF 7223 -DIFF 5518 -DIFF 10741 -DIFF 9425 -DIFF 8445 -DIFF 9111 -DIFF 7870 -DIFF 7926 -DIFF 9555 -DIFF 9259 -DIFF 9371 -DIFF 12074 -DIFF 8796 -DIFF 6093 -DIFF 9408 -DIFF 5351 -DIFF 7425 -DIFF 13296 -DIFF 13833 -DIFF 10796 -DIFF 10222 -DIFF 12833 -DIFF 11074 -DIFF 12260 -DIFF 10129 -DIFF 13314 -DIFF 11740 -DIFF 9000 -DIFF 12518 -DIFF 17278 -DIFF 7334 -DIFF 6148 -DIFF 5574 -DIFF 6092 -DIFF 5926 -DIFF 6426 -DIFF 6167 -DIFF 7056 -DIFF 5945 -DIFF 11389 -DIFF 5296 -DIFF 5815 -DIFF 5963 -DIFF 5130 -DIFF 5018 -DIFF 6777 -DIFF 5778 -DIFF 7093 -DIFF 5963 -DIFF 7093 -DIFF 10703 -DIFF 7926 -DIFF 5611 -DIFF 9463 -DIFF 5092 -DIFF 6408 -DIFF 7185 -DIFF 7185 -DIFF 6352 -DIFF 5889 -DIFF 6777 -DIFF 5907 -DIFF 6056 -DIFF 7685 -DIFF 7222 -DIFF 6333 -DIFF 7444 -DIFF 6685 -DIFF 5593 -DIFF 6371 -DIFF 7314 -DIFF 6536 -DIFF 12056 -DIFF 5278 -DIFF 6111 -DIFF 5389 -DIFF 6407 -DIFF 5444 -DIFF 5222 -DIFF 5278 -DIFF 5222 -DIFF 5056 -DIFF 5166 -DIFF 5277 -DIFF 5370 -DIFF 5185 -DIFF 5796 -DIFF 5241 -DIFF 7500 -DIFF 7760 -DIFF 6407 -DIFF 6166 -DIFF 11000 -DIFF 7537 -DIFF 8074 -DIFF 6111 -DIFF 7518 -DIFF 6556 -DIFF 9426 -DIFF2022/01/31 14:36:04.632 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64893 fPos=19.264 fActPosition=19.26 time=0.000142 -2022/01/31 14:36:04.632 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=201 fPos=4.576 fActPosition=4.59 time=0.000011 -2022/01/31 14:36:04.832 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64891 fPos=19.32 fActPosition=19.32 time=0.000017 -2022/01/31 14:36:04.833 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=241 fPos=5.78 fActPosition=5.79 time=0.000490 - 10333 -DIFF 8556 -DIFF 17407 -DIFF 6148 -DIFF 5371 -DIFF 5630 -DIFF 5666 -DIFF 11907 -DIFF 8277 -DIFF 11981 -DIFF 10518 -DIFF 12055 -DIFF 13445 -DIFF 8833 -DIFF 6907 -DIFF 16018 -DIFF 8796 -DIFF 16630 -DIFF 9093 -DIFF 14667 -DIFF 11018 -DIFF 10111 -DIFF 5148 -DIFF 6000 -DIFF 5333 -DIFF 6555 -DIFF 5963 -DIFF 9037 -DIFF 9259 -DIFF 7352 -DIFF 5333 -DIFF 5018 -DIFF 5463 -DIFF 5093 -DIFF 5240 -DIFF 5778 -DIFF 5296 -DIFF 6481 -DIFF 5574 -DIFF 5982 -DIFF 5260 -DIFF 5445 -DIFF 5555 -DIFF 5185 -DIFF 5370 -DIFF 7407 -DIFF 5537 -DIFF 8055 -DIFF 5074 -DIFF 5111 -DIFF 5370 -DIFF 5185 -DIFF 5185 -DIFF 5204 -DIFF 5259 -DIFF 5778 -DIFF 5185 -DIFF 5907 -DIFF 5297 -DIFF 5296 -DIFF 5278 -DIFF 5203 -DIFF 5351 -DIFF 5574 -DIFF 5093 +GRBL: INFO: Write command (command[1] = S10) +Added: S10../grbl/grbl_gcode.c:gc_execute_line:71: +GRBL: INFO: Reply OK (command[1] = S10) +GRBL: INFO: Write command (command[2] = M03) +Added: M03../grbl/grbl_gcode.c:gc_execute_line:71: GRBL busy: 1.00000 -DIFF 6370 -DIFF 5148 -DIFF 8129 -DIFF 5741 -DIFF 5148 -DIFF 5111 -DIFF 5462 -DIFF 5204 -DIFF 5129 -DIFF 5445 -DIFF 5259 -DIFF 6556 -DIFF 6092 -DIFF 5149 -DIFF 5111 -DIFF 5222 -DIFF 5074 -DIFF 5056 -DIFF 5388 -DIFF 5796 -DIFF 5111 -DIFF 6648 -DIFF 6908 -DIFF 5203 -DIFF 5278 -DIFF 5370 -DIFF 5352 -DIFF 5259 -DIFF 5352 -DIFF 5574 -DIFF 5166 -DIFF 8055 -DIFF 5945 -DIFF 5111 -DIFF 5148 -DIFF 5055 -DIFF 5296 -DIFF 5129 -DIFF 5481 -DIFF 6092 -DIFF 5407 -DIFF 6536 -DIFF 5870 -DIFF 5074 -DIFF 5074 -DIFF 5259 -DIFF 5129 -DIFF 5259 -DIFF 5648 -DIFF 5166 -DIFF 6463 -DIFF 5851 -DIFF 5222 -DIFF 5148 -DIFF 5241 -DIFF 5148 -DIFF 5240 -DIFF 5167 -DIFF 5389 -DIFF 5241 -DIFF 7111 -DIFF 5796 -DIFF 5463 -DIFF 5185 -DIFF 5130 -DIFF 5148 -DIFF 5296 -DIFF 5222 -DIFF 5408 -DIFF 5185 -DIFF 6204 -DIFF 5944 -DIFF 6129 -DIFF 5241 -DIFF 6148 -DIFF 5555 -DIFF 5093 -DIFF 5296 -DIFF 6019 -DIFF 7574 -DIFF 7889 -DIFF 6037 -DIFF 5092 -DIFF 5463 -DIFF 5278 -DIFF 5186 -DIFF 5074 -DIFF 5167 -DIFF 6944 -DIFF 5037 -DIFF 10870 -DIFF 9592 -DIFF 9111 -DIFF 10462 -DIFF 8277 -DIFF 6889 -DIFF 6926 -DIFF 9629 -DIFF 9648 -DIFF 12129 -DIFF 8667 -DIFF 5814 -DIFF 5167 -DIFF 5111 -DIFF 5204 -DIFF 8648 -DIFF 5481 -DIFF 5833 -DIFF 5852 -DIFF 5203 -DIFF 8185 -DIFF 6314 -DIFF 5111 -DIFF 5148 -DIFF 5370 -DIFF 5241 -DIFF 5148 -DIFF 5278 -DIFF 5759 -DIFF 5222 -DIFF 7499 -DIFF 6407 -DIFF 5352 -DIFF 8777 -DIFF 6907 -DIFF 10351 -DIFF 8000 -DIFF 12259 -DIFF 9278 -DIFF 5537 -DIFF 7889 -DIFF 5463 -DIFF 5314 -DIFF 5148 -DIFF 5222 -DIFF 5167 -DIFF 6074 -DIFF 5870 -DIFF 5851 -DIFF 5167 -DIFF 7481 -DIFF 5870 -DIFF 5259 -DIFF 5186 -DIFF 5537 -DIFF 5389 -DIFF 5389 -DIFF 5241 -DIFF 6407 -DIFF 5370 -DIFF 6370 -DIFF 5278 -DIFF 5259 -DIFF 5259 -DIFF 5982 -DIFF 5371 -DIFF 5074 -DIFF 5167 -DIFF 5592 -DIFF 5203 -DIFF 5759 -DIFF 5296 -DIFF 5222 -DIFF 5222 -DIFF 5185 -DIFF 5148 -DIFF 5203 -DIFF 5389 -DIFF 5185 -DIFF 6519 -DIFF 5889 -DIFF 5296 -DIFF 5407 -DIFF 5074 -DIFF 5166 -DIFF 5167 -DIFF 5315 -DIFF 5703 -DIFF 5204 -DIFF 6351 -DIFF 5777 -DIFF 5111 -DIFF 5111 -DIFF 5222 -DIFF 5296 -DIFF 5130 -DIFF 5093 -DIFF 5556 -DIFF 5129 -DIFF 6426 -DIFF 5778 -DIFF 5203 -DIFF 5111 -DIFF 5148 -DIFF 5278 -DIFF 5463 -DIFF 5166 -DIFF 5500 -DIFF 5148 -DIFF 6389 -DIFF 5982 -DIFF 5574 -DIFF 5093 -DIFF 5037 -DIFF 5148 -DIFF 5259 -DIFF 5666 -DIFF 5185 -DIFF 6389 -DIFF 5851 -DIFF 5278 -DIFF 5167 -DIFF 5296 -DIFF 5297 -DIFF 5130 -DIFF 5296 -DIFF 6370 -DIFF 5185 -DIFF 6611 -DIFF 6204 -DIFF 5037 -DIFF 5148 -DIFF 5111 -DIFF 5074 -DIFF 5055 -DIFF 5129 -DIFF 5519 -DIFF 5037 -DIFF 7630 -DIFF 5796 -DIFF 5130 -DIFF 5278 -DIFF 5111 -DIFF 5370 -DIFF 5129 -DIFF 5166 -DIFF 7074 -DIFF 9759 -DIFF 11259 -DIFF 7370 -DIFF 5370 -DIFF 5203 -DIFF 5130 -DIFF 5259 -DIFF 5241 -DIFF 5203 -DIFF 5648 -DIFF 5297 -DIFF 7555 -DIFF 9259 -DIFF 8037 -DIFF 9833 -DIFF 9481 -DIFF 10499 -DIFF 10185 -DIFF 9648 -DIFF 9037 -DIFF 9815 -DIFF 7518 -DIFF 5944 -DIFF 5167 -DIFF 5166 -DIFF 5074 -DIFF 5204 -DIFF 5111 -DIFF 7648 -DIFF 5482 -DIFF 5092 -DIFF 8296 -DIFF 5870 -DIFF 5222 -DIFF 5407 -DIFF 5296 -DIFF 5333 -DIFF 5851 -DIFF 5111 -DIFF 5407 -DIFF 9074 -DIFF 8296 -DIFF 5871 -DIFF 5093 -DIFF 5092 -DIFF 5333 -DIFF 6926 -DIFF 5537 -DIFF 8833 -DIFF 9870 -DIFF 6666 -DIFF 8204 -DIFF 7148 -DIFF 6426 -DIFF 7944 -DIFF 7000 -DIFF 8797 -DIFF 8037 -DIFF 7759 -DIFF 12685 -DIFF 11259 -DIFF 15555 -DIFF 7555 -DIFF 10222 -DIFF 8741 -DIFF 6462 -DIFF 6277 -DIFF 9611 -DIFF 8944 -DIFF 6166 -DIFF 5555 -DIFF 8000 -DIFF 7130 -DIFF 7444 -DIFF 6444 -DIFF 6259 -DIFF 5018 -DIFF 5166 -DIFF 5148 -DIFF 8426 -DIFF 5593 -DIFF 5740 -DIFF 5759 -DIFF 7222 -DIFF 5741 -DIFF 5203 -DIFF 5796 -DIFF 5167 -DIFF 5055 -DIFF 5259 -DIFF 5389 -DIFF 5926 -DIFF 5371 -DIFF 8852 -DIFF 6018 -DIFF 5129 -DIFF 5166 -DIFF 5130 -DIFF 5518 -DIFF 5314 -DIFF 5204 -DIFF 5611 -DIFF 5111 -DIFF 2022/01/31 14:36:05.034 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64889 fPos=19.38 fActPosition=19.38 time=0.000035 -2022/01/31 14:36:05.034 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=281 fPos=6.984 fActPosition=6.99 time=0.000304 -2022/01/31 14:36:05.235 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64887 fPos=19.436 fActPosition=19.44 time=0.000010 -2022/01/31 14:36:05.235 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=321 fPos=8.192 fActPosition=8.19 time=0.000007 -2022/01/31 14:36:05.435 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64885 fPos=19.496 fActPosition=19.5 time=0.000011 -2022/01/31 14:36:05.435 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=361 fPos=9.388 fActPosition=9.39 time=0.000006 -2022/01/31 14:36:05.636 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64883 fPos=19.552 fActPosition=19.56 time=0.000011 -2022/01/31 14:36:05.636 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=401 fPos=10.588 fActPosition=10.59 time=0.000006 -2022/01/31 14:36:05.836 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64881 fPos=19.608 fActPosition=19.62 time=0.000078 -2022/01/31 14:36:05.836 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=441 fPos=11.792 fActPosition=11.79 time=0.000012 -2022/01/31 14:36:06.037 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.664 fActPosition=19.68 time=0.000011 -2022/01/31 14:36:06.037 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=481 fPos=12.988 fActPosition=12.99 time=0.000006 -2022/01/31 14:36:06.237 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64878 fPos=19.724 fActPosition=19.71 time=0.000015 -2022/01/31 14:36:06.237 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=521 fPos=14.196 fActPosition=14.19 time=0.000006 -2022/01/31 14:36:06.437 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64876 fPos=19.78 fActPosition=19.77 time=0.000009 -2022/01/31 14:36:06.437 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=561 fPos=15.396 fActPosition=15.39 time=0.000006 -2022/01/31 14:36:06.637 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64874 fPos=19.836 fActPosition=19.83 time=0.000017 -2022/01/31 14:36:06.638 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=602 fPos=16.596 fActPosition=16.62 time=0.000244 -6222 -DIFF 8907 -DIFF 5462 -DIFF 7148 -DIFF 5352 -DIFF 6351 -DIFF 5296 -DIFF 5056 -DIFF 6018 -DIFF 5222 -DIFF 6500 -DIFF 5259 -DIFF 5277 -DIFF 7519 -DIFF 6648 -DIFF 7759 -DIFF 5407 -DIFF 6463 -DIFF 7111 -DIFF 7611 -DIFF 9000 -DIFF 6167 -DIFF 5926 -DIFF 6130 -DIFF 7537 -DIFF 5926 -DIFF 6018 -DIFF 5722 -DIFF 6333 -DIFF 7611 -DIFF 9277 -DIFF 7519 -DIFF 10944 -DIFF 7426 -DIFF 7741 -DIFF 11148 -DIFF 6500 -DIFF 6963 -DIFF 6981 -DIFF 5371 -DIFF 9796 -DIFF 10425 -DIFF 14000 -DIFF 7759 -DIFF 5352 -DIFF 5407 -DIFF 5351 -DIFF 5389 -DIFF 11037 -DIFF 5148 -DIFF 14463 -DIFF 16074 -DIFF 7685 -DIFF 5500 -DIFF 5315 -DIFF 5204 -DIFF 5092 -DIFF 5333 -DIFF 5648 -DIFF 6148 -DIFF 7945 -DIFF 6334 -DIFF 6370 -DIFF 7741 -DIFF 7463 -DIFF 9851 -DIFF 8241 -DIFF 6574 -DIFF 8889 -DIFF 13222 -DIFF 9926 -DIFF 8981 -DIFF 6574 -DIFF 9537 -DIFF 11500 -DIFF 9203 -DIFF 5352 -DIFF 5222 -DIFF 6388 -DIFF 5852 -DIFF 5797 -DIFF 6519 -DIFF 6685 -DIFF 5759 -DIFF 8611 -DIFF 5333 -DIFF 8722 -DIFF 5815 -DIFF 5185 -DIFF 6148 -DIFF 7167 -DIFF 6333 -DIFF 7574 -DIFF 5593 -DIFF 7722 -DIFF 5129 -DIFF 6871 -DIFF 6648 GRBL busy: 1.00000 -DIFF 6036 -DIFF 6981 -DIFF 6630 -DIFF 7389 -DIFF 8092 -DIFF 7167 -DIFF 7481 -DIFF 7740 -DIFF 5130 -DIFF 5130 -DIFF 5130 -DIFF 5351 -DIFF 5148 -DIFF 5315 -DIFF 5444 -DIFF 5185 -DIFF 6203 -DIFF 5444 -DIFF 5223 -DIFF 5130 -DIFF 5629 -DIFF 8982 -DIFF 5611 -DIFF 5556 -DIFF 6962 -DIFF 5741 -DIFF 7426 -DIFF 6425 -DIFF 5444 -DIFF 5611 -DIFF 6945 -DIFF 5389 -DIFF 5629 -DIFF 5611 -DIFF 7481 -DIFF 5666 -DIFF 9148 -DIFF 7203 -DIFF 5574 -DIFF 6093 -DIFF 5833 -DIFF 5500 -DIFF 5833 -DIFF 7444 -DIFF 7666 -DIFF 5333 -DIFF 9463 -DIFF 6870 -DIFF 5870 -DIFF 5759 -DIFF 5815 -DIFF 5407 -DIFF 5778 -DIFF 5981 -DIFF 5889 -DIFF 6259 -DIFF 7352 -DIFF 7648 -DIFF 5555 -DIFF 5537 -DIFF 5222 -DIFF 5907 -DIFF 5889 -DIFF 5407 -DIFF 6685 -DIFF 5926 -DIFF 8092 -DIFF 6111 -DIFF 5426 -DIFF 5555 -DIFF 14277 -DIFF 5796 -DIFF 5888 -DIFF 5481 -DIFF 6445 -DIFF 5407 -DIFF 9018 -DIFF 7500 -DIFF 5371 -DIFF 9629 -DIFF 9185 -DIFF 6389 -DIFF 5667 -DIFF 5888 -DIFF 6537 -DIFF 6185 -DIFF 8759 -DIFF 7630 -DIFF 5815 -DIFF 5944 -DIFF 8167 -DIFF 9000 -DIFF 9593 -DIFF 9778 -DIFF 10907 -DIFF 9611 -DIFF 10204 -DIFF 9093 -DIFF 12704 -DIFF 8851 -DIFF 7241 -DIFF 6130 -DIFF 13370 -DIFF 12204 -DIFF 11518 -DIFF 12277 -DIFF 17703 -DIFF 5926 -DIFF 5518 -DIFF 5426 -DIFF 5019 -DIFF 6240 -DIFF 5389 -DIFF 5315 -DIFF 6851 -DIFF 10833 -DIFF 9777 -DIFF 5518 -DIFF 5352 -DIFF 6371 -DIFF 7537 -DIFF 9703 -DIFF 6111 -DIFF 7888 -DIFF 6926 -DIFF 5760 -DIFF 11093 -DIFF 10036 -DIFF 5037 -DIFF 6185 -DIFF 5241 -DIFF 60758 -DIFF 5056 -DIFF 6611 -DIFF 5833 -DIFF 8556 -DIFF 5241 -DIFF 5722 -DIFF 6333 -DIFF 6426 -DIFF 5037 -DIFF 8796 -DIFF 5333 -DIFF 5611 -DIFF 6222 -DIFF 6981 -DIFF 5871 -DIFF 6277 -DIFF 5407 -DIFF 5889 -DIFF 6222 -DIFF 9518 -DIFF 5759 -DIFF 5056 GRBL busy: 1.00000 -DIFF 6333 -DIFF 5463 -DIFF 5407 -DIFF 7463 -DIFF 6167 -DIFF 5277 -DIFF 5222 -DIFF 5259 -DIFF 5389 -DIFF 5352 -DIFF 5278 -DIFF 5593 -DIFF 5204 -DIFF 5852 -DIFF 5222 -DIFF 5240 -DIFF 5222 -DIFF 5259 -DIFF 5111 -DIFF 5297 -DIFF 5556 -DIFF 5056 -DIFF 6296 -DIFF 5740 -DIFF 5333 -DIFF 5388 -DIFF 5111 -DIFF 5093 -DIFF 5222 -DIFF 5166 -DIFF 5500 -DIFF 5148 -DIFF 6407 -DIFF 6425 -DIFF 5185 -DIFF 5315 -DIFF 5203 -DIFF 5333 -DIFF 5241 -DIFF 5352 -DIFF 5611 -DIFF 5296 -DIFF 6315 -DIFF 5797 -DIFF 5222 -DIFF 5093 -DIFF 5296 -DIFF 5296 -DIFF 5185 -DIFF 5426 -DIFF 5722 -DIFF 5296 -DIFF 5685 -DIFF 5315 -DIFF 5259 -DIFF 5426 -DIFF 5537 -DIFF 5351 -DIFF 5593 -DIFF 5204 -DIFF 5426 -DIFF 5056 -DIFF 7130 -DIFF 5778 -DIFF 5148 -DIFF 5260 -DIFF 6833 -DIFF 6778 -DIFF 5351 -DIFF 5166 -DIFF 6907 -DIFF 5426 -DIFF 7315 -DIFF 6592 -DIFF 5167 -DIFF 5296 -DIFF 5148 -DIFF 5389 -DIFF 5666 -DIFF 5352 -DIFF 7463 -DIFF 5871 -DIFF 8630 -DIFF 7629 -DIFF 7037 -DIFF 8889 -DIFF 8500 -DIFF 5222 -DIFF 5371 -DIFF 11074 -DIFF 10814 -DIFF 14704 -DIFF 13945 -DIFF 7574 -DIFF 6037 -DIFF 5111 -DIFF 6019 -DIFF 5519 -DIFF 5241 -DIFF 5259 -DIFF 5611 -DIFF 5166 -DIFF 7259 -DIFF 5907 -DIFF 5222 -DIFF 5259 -DIFF 5185 -DIFF 5241 -DIFF 5222 -DIFF 5204 -DIFF 5796 -DIFF 9018 -DIFF 8259 -DIFF 6130 -DIFF 7648 -DIFF 10555 -DIFF 7037 -DIFF 6315 -DIFF 6167 -DIFF 6611 -DIFF 9519 -DIFF 9074 -DIFF 12056 -DIFF 5333 -DIFF 6111 -DIFF 5204 -DIFF 5278 -DIFF 5703 -DIFF 6500 -DIFF 5129 -DIFF 7074 -DIFF 5167 -DIFF 12537 -DIFF 5167 -DIFF 5333 -DIFF 5129 -DIFF 5037 -DIFF 11296 -DIFF 5907 -DIFF 5222 -DIFF 6389 -DIFF 5351 -DIFF 7611 -DIFF 5814 -DIFF 7314 -DIFF 5167 -DIFF 5296 -DIFF 5204 -DIFF 5389 -DIFF 5519 -DIFF 51852022/01/31 14:36:06.838 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64872 fPos=19.896 fActPosition=19.89 time=0.000014 -2022/01/31 14:36:06.839 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=642 fPos=17.796 fActPosition=17.82 time=0.000009 -2022/01/31 14:36:07.039 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64870 fPos=19.948 fActPosition=19.95 time=0.000015 -2022/01/31 14:36:07.039 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=678 fPos=18.9 fActPosition=18.9 time=0.000011 -2022/01/31 14:36:07.239 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.98 fActPosition=19.98 time=0.000016 -2022/01/31 14:36:07.240 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=702 fPos=19.616 fActPosition=19.62 time=0.000012 -2022/01/31 14:36:07.440 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000159 -2022/01/31 14:36:07.440 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=714 fPos=19.968 fActPosition=19.98 time=0.000011 - -DIFF 7852 -DIFF 5925 -DIFF 5333 -DIFF 5518 -DIFF 5130 -DIFF 5149 -DIFF 5222 -DIFF 5611 -DIFF 5667 -DIFF 5074 -DIFF 7019 -DIFF 7907 -DIFF 6426 -DIFF 7463 -DIFF 5499 -DIFF 8185 -DIFF 7926 -DIFF 9111 -DIFF 11296 -DIFF 10796 -DIFF 10148 -DIFF 12240 -DIFF 10223 -DIFF 10518 -DIFF 21593 -DIFF 5815 -DIFF 5296 -DIFF 6481 -DIFF 5945 -DIFF 5370 -DIFF 7019 -DIFF 6018 -DIFF 5111 -DIFF 5018 -DIFF 5167 -DIFF 5241 -DIFF 5185 -DIFF 5315 -DIFF 6407 -DIFF 5259 -DIFF 8297 -DIFF 5963 -DIFF 5018 -DIFF 5204 -DIFF 5870 -DIFF 8352 -DIFF 10500 -DIFF 6722 -DIFF 11871 -DIFF 9055 -DIFF 6815 -DIFF 6667 -DIFF 7018 -DIFF 5407 -DIFF 7611 -DIFF 5093 -DIFF 7000 -DIFF 7463 -DIFF 6760 -DIFF 6611 -DIFF 7666 -DIFF 11556 -DIFF 5204 -DIFF 6444 -DIFF 5222 -DIFF 6185 -DIFF 5778 -DIFF 5074 -DIFF 5259 -DIFF 5185 -DIFF 5185 -DIFF 5259 -DIFF 5278 -DIFF 5908 -DIFF 6907 -DIFF 7925 -DIFF 8018 -DIFF 8611 -DIFF 8982 -DIFF 6611 -DIFF 11796 -DIFF 5518 -DIFF 5629 -DIFF 6796 -DIFF 5222 -DIFF 7167 -DIFF 5926 -DIFF 16278 -DIFF 7185 -DIFF 5092 -DIFF 5259 -DIFF 7426 -DIFF 5389 -DIFF 11907 -DIFF 6352 -DIFF 5204 -DIFF 5056 -DIFF 5093 -DIFF 5166 -DIFF 5315 -DIFF 5203 -DIFF 5630 -DIFF 5019 -DIFF 7907 -DIFF 5833 -DIFF 5537 -DIFF 5314 -DIFF 5074 -DIFF 5185 -DIFF 5149 -DIFF 5630 -DIFF 5240 -DIFF 7556 -DIFF 5908 -DIFF 5149 -DIFF 5297 -DIFF 5074 -DIFF 5092 -DIFF 5388 -DIFF 5129 -DIFF 5370 -DIFF 6092 -DIFF 5870 -DIFF 7056 -DIFF 5167 -DIFF 5556 -DIFF 5333 -DIFF 5407 -DIFF 6833 -DIFF 5982 -DIFF 5888 -DIFF 6685 -DIFF 5759 -DIFF 5185 -DIFF 5167 -DIFF 5018 -DIFF 5074 -DIFF 5481 -DIFF 5445 -DIFF 6593 -DIFF 5759 -DIFF 5093 -DIFF 5223 -DIFF 5333 -DIFF 5129 -DIFF 5055 -DIFF 5333 -DIFF 6629 -DIFF 5703 -DIFF 5074 -DIFF 5148 -DIFF 5241 -DIFF 5074 -DIFF 5315 -DIFF 5111 -DIFF 5148 -DIFF 5074 -DIFF 7000 -DIFF 5778 -DIFF 6111 -DIFF 5203 -DIFF 5111 -DIFF 5111 -DIFF 6703 -DIFF 5333 -DIFF 6759 -DIFF 5907 -DIFF 5463 -DIFF 5111 -DIFF 5797 -DIFF 5056 -DIFF 6500 -DIFF 5759 -DIFF 5130 -DIFF 5074 -DIFF 5240 -DIFF 5222 -DIFF 5723 -DIFF 6111 -DIFF 5037 -DIFF 5185 -DIFF 5037 -DIFF 5241 -DIFF 5185 -DIFF 6111 -DIFF 5981 -DIFF 5111 -DIFF 5111 -DIFF 5055 -DIFF 5203 -DIFF 5074 -DIFF 6148 -DIFF 5833 -DIFF 5074 -DIFF 5203 -DIFF 5018 -DIFF 6370 -DIFF 5204 -DIFF 7296 -DIFF 5944 -DIFF 5111 -DIFF 6630 -DIFF 8185 -DIFF 5426 -DIFF 5204 -DIFF 5982 -DIFF 6815 -DIFF 5518 -DIFF 5907 -DIFF 5203 -DIFF 5185 -DIFF 5056 -DIFF 5611 -DIFF 6907 -DIFF 6333 -DIFF 6277 -DIFF 9018 -DIFF 9278 -DIFF 11185 -DIFF 6704 -DIFF 5056 -DIFF 5111 -DIFF 8944 -DIFF 9499 -DIFF 16074 -DIFF 5870 -DIFF 6741 -DIFF 5148 -DIFF 6055 -DIFF 6352 -DIFF 5111 -DIFF 6259 -DIFF 5611 -DIFF 5296 -DIFF 5055 -DIFF 5760 -DIFF 9093 -DIFF 8611 -DIFF 8425 -DIFF 6352 -DIFF 6926 -DIFF 14222 -DIFF 6796 -DIFF 5389 -DIFF 5018 -DIFF 6741 -DIFF 5741 -DIFF 5148 -DIFF 5093 -DIFF 6907 -DIFF 5982 -DIFF 5018 -DIFF 5648 -DIFF 5407 -DIFF 6722 -DIFF 6204 -DIFF 5111 -DIFF 5167 -DIFF 5666 -DIFF 5018 -DIFF 7333 -DIFF 5907 -DIFF 5111 -DIFF 7760 -DIFF 5481 -DIFF 5018 -DIFF 5185 -DIFF 6611 -DIFF 5500 -DIFF 5204 -DIFF 5259 -DIFF 5963 -DIFF 5518 -DIFF 6685 -DIFF 5537 -DIFF 6370 -DIFF 5241 -DIFF 5463 -DIFF 5222 -DIFF 5037 -DIFF 6333 -DIFF 5740 -DIFF 5185 -DIFF 6315 -DIFF 5815 -DIFF 5704 -DIFF 5889 -DIFF 5537 -DIFF 5426 -DIFF 5111 -DIFF 5092 -DIFF 6352 -DIFF 5888 -DIFF 5037 -DIFF 5204 -DIFF 5481 -DIFF 6000 -DIFF 5204 -DIFF 5019 -DIFF 5074 -DIFF 7093 -DIFF 5666 -DIFF 5240 -DIFF 6111 -DIFF 5185 -DIFF 5888 -DIFF 5018 -DIFF 5074 -DIFF 6463 -DIFF 5555 -DIFF 5166 -DIFF 5111 -DIFF 5648 -DIFF 5185 -DIFF 5148 -DIFF 5777 -DIFF 6018 -DIFF 6834 -DIFF 5445 -DIFF 5370 -DIFF 6759 -DIFF 5963 -DIFF 6796 -DIFF 7666 -DIFF 8704 -DIFF 7666 -DIFF 7667 -DIFF 5092 -DIFF 5092 -DIFF 6296 -DIFF 8296 -DIFF 6593 -DIFF 8223 -DIFF 16389 -DIFF 5296 -DIFF 6666 -DIFF 5018 -DIFF 6148 -DIFF 5481 -DIFF 5111 -DIFF 6074 -DIFF 7962 -DIFF 5963 -DIFF 5333 -DIFF 8092 -DIFF 6667 -DIFF 5759 -DIFF 6482 -DIFF 11703 -DIFF 6852 -DIFF 9092 -DIFF 6037 -DIFF 7185 -DIFF 9000 -DIFF 9760 -DIFF 5334 -DIFF 5685 -DIFF 5148 -DIFF 9778 -DIFF 5722 -DIFF 6907 -DIFF 5574 -DIFF 5852 -DIFF 5222 -DIFF 7222 -DIFF 5556 -DIFF 5223 -DIFF 6982 -DIFF 6037 -DIFF 6481 -DIFF 5537 -DIFF 6148 -DIFF 6481 -DIFF 7908 -DIFF 5537 -DIFF 6593 -DIFF 5519 -DIFF 5129 -DIFF 6185 -DIFF 5463 -DIFF 6722 -DIFF 6333 -DIFF 5741 -DIFF 5204 -DIFF 6685 -DIFF 5111 -DIFF 6685 -DIFF 8018 -DIFF 5482 -DIFF 6592 -DIFF 9129 -DIFF 8574 -DIFF 9814 -DIFF 9574 -DIFF 6407 -DIFF 7370 -DIFF 9370 -DIFF 9166 -DIFF 7111 -DIFF 16740 -DIFF 5315 -DIFF 5463 -DIFF 5889 -DIFF 5315 -DIFF 5870 -DIFF 8167 -DIFF 5204 -DIFF 62022/01/31 14:36:07.640 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000014 -2022/01/31 14:36:07.641 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000009 -2022/01/31 14:36:07.841 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000137 -2022/01/31 14:36:07.841 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000010 -2022/01/31 14:36:08.041 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000017 -2022/01/31 14:36:08.042 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000011 -2022/01/31 14:36:08.242 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000018 -2022/01/31 14:36:08.242 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000011 -2022/01/31 14:36:08.443 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000015 -2022/01/31 14:36:08.443 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000384 -2022/01/31 14:36:08.643 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000014 -2022/01/31 14:36:08.644 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000010 -2022/01/31 14:36:08.844 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000170 -2022/01/31 14:36:08.844 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000011 -074 -DIFF 7037 -DIFF 8240 -DIFF 7555 -DIFF 5518 -DIFF 6648 -DIFF 7055 -DIFF 9944 -DIFF 5148 -DIFF 7426 -DIFF 7815 -DIFF 15111 -DIFF 10111 -DIFF 9944 -DIFF 15629 -DIFF 9148 -DIFF 10741 -DIFF 11833 -DIFF 9278 -DIFF 10555 ../grbl/grbl_stepper.c:st_go_idle:259: -DIFF 27999 -DIFF 16870 -DIFF 7834 -DIFF 10407 -DIFF 7037 -DIFF 5722 -DIFF 10462 -DIFF 5500 -DIFF 5389 -DIFF 8907 -DIFF 6055 -DIFF 6389 -DIFF 5963 +GRBL: INFO: Reply OK (command[2] = M03) +GRBL: INFO: Write command (command[3] = G4P2) +Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71: +../grbl/grbl_motion_control.c:mc_dwell:200: GRBL busy: 1.00000 -DIFF 5055 -DIFF 6000 -DIFF 5278 -DIFF 5334 -DIFF 9796 -DIFF 8944 -DIFF 5760 -DIFF 13259 -DIFF 7704 -DIFF 5537 -DIFF 6852 -DIFF 5037 -DIFF 6148 -DIFF 7648 -DIFF 7888 -DIFF 11315 -DIFF 7259 -DIFF 7093 -DIFF 6611 -DIFF 5019 -DIFF 8500 -DIFF 5074 -DIFF 5130 -DIFF 5093 -DIFF 12130 -DIFF 5593 -DIFF 6370 -DIFF 5056 -DIFF 5111 -DIFF 5111 -DIFF 5018 -DIFF 5556 -DIFF 5389 -DIFF 5445 -DIFF 6888 -DIFF 5556 -DIFF 7000 -DIFF 6463 -DIFF 5314 -DIFF 5148 -DIFF 5444 -DIFF 5277 -DIFF 5055 -DIFF 5518 -DIFF 5963 -DIFF 5129 -DIFF 5555 -DIFF 5296 -DIFF 5482 -DIFF 5074 -DIFF 8611 -DIFF 5241 -DIFF 5963 -DIFF 7870 -DIFF 7500 -DIFF 9611 -DIFF 7092 -DIFF 5074 -DIFF 9278 -DIFF 9481 -DIFF 16111 -DIFF 5981 -DIFF 6499 -DIFF 7259 -DIFF 5222 -DIFF 6352 -DIFF 6889 -DIFF 5222 -DIFF 8519 -DIFF 6111 -DIFF 11926 -DIFF 10630 -DIFF 7741 -DIFF 5351 -DIFF 8093 -DIFF 5167 -DIFF 8629 -DIFF 6037 -DIFF 5259 -DIFF 5222 -DIFF 5797 -DIFF 5241 -DIFF 5296 -DIFF 6204 -DIFF 5259 -DIFF 6092 -DIFF 5981 -DIFF 5389 -DIFF 5148 -DIFF 9351 -DIFF 7037 -DIFF 6815 -DIFF 5537 -DIFF 5055 -DIFF 5351 -DIFF 5277 -DIFF 6445 -DIFF 6240 -DIFF 7241 -DIFF 5093 -DIFF 6445 -DIFF 8259 -DIFF 12130 -DIFF 12574 -DIFF 6462 -DIFF 9481 -DIFF 6000 -DIFF 9185 -DIFF 15333 -DIFF 19278 -DIFF 5685 -DIFF 7092 -DIFF 5185 -DIFF 6888 -DIFF 5129 -DIFF 5888 -DIFF 5296 -DIFF 6981 -DIFF 9629 -DIFF 5518 -DIFF 17463 -DIFF 9315 -DIFF 6685 -DIFF 5130 -DIFF 7648 -DIFF 9925 -DIFF 5518 -DIFF 5555 -DIFF 5222 -DIFF 5297 -DIFF 5370 -DIFF 5037 -DIFF 5482 -DIFF 5907 -DIFF 5074 -DIFF 5203 -DIFF 5129 -DIFF 5722 -DIFF 7222 -DIFF 6167 -DIFF 5611 -DIFF 6741 -DIFF 7574 -DIFF 5833 -DIFF 5759 -DIFF 5666 -DIFF 6963 -DIFF 5204 -DIFF 5352 -DIFF 6741 -DIFF 6648 -DIFF 5019 -DIFF 5167 -DIFF 8815 -DIFF 7185 -DIFF 6351 -DIFF 6907 -DIFF 8778 -DIFF 5093 -DIFF 10111 -DIFF 17018 -DIFF 14148 -DIFF 5241 -DIFF 5408 -DIFF 5352 -DIFF 6667 -DIFF 5259 -DIFF 5648 -DIFF 6240 -DIFF 6389 -DIFF 7037 -DIFF 7296 -DIFF 7981 -DIFF 6463 -DIFF 5888 -DIFF 5426 -DIFF 11556 -DIFF 6259 -DIFF 6630 -DIFF 8760 -DIFF 7592 -DIFF 5426 -DIFF 8740 -DIFF 5111 -DIFF 5315 -DIFF 5407 -DIFF 5167 -DIFF 5314 -DIFF 5204 -DIFF 6407 -DIFF 6148 -DIFF 5037 -DIFF 6685 -DIFF 5018 -DIFF 5537 -DIFF 5500 -DIFF 5574 -DIFF 5018 -DIFF 5315 -DIFF 5093 -DIFF 5297 -DIFF 5148 -DIFF 5889 -DIFF 6518 -DIFF 9222 -DIFF 5278 -DIFF 8815 -DIFF 7981 -DIFF 6073 -DIFF 7055 -DIFF 7315 -DIFF 6851 -DIFF 5815 -DIFF 8222 -DIFF 14908 -DIFF 5333 -DIFF 5482 -DIFF 7000 -DIFF 5092 -DIFF 6889 -DIFF 5482 -DIFF 5703 -DIFF 9352 -DIFF 6056 -DIFF 7574 -DIFF 5222 -DIFF 17926 -DIFF 9870 -DIFF 6037 -DIFF 7352 -DIFF 5148 -DIFF 5389 -DIFF 5593 -DIFF 5055 -DIFF 5092 GRBL busy: 1.00000 -DIFF 5888 -DIFF 6055 -DIFF 5018 -DIFF 5759 -DIFF 6555 -DIFF 5092 -DIFF 6000 -DIFF 7148 -DIFF 5037 -DIFF 5371 -DIFF 5167 -DIFF 5056 -DIFF 5408 -DIFF 5130 -DIFF 5074 -DIFF 5445 -DIFF 5074 -DIFF 5222 -DIFF 7333 -DIFF 6444 -DIFF 5426 -DIFF 5389 -DIFF 7574 -DIFF 6000 -DIFF 6129 -DIFF 7259 -DIFF 9370 -DIFF 10351 -DIFF 5222 -DIFF 5204 -DIFF 6740 -DIFF 5055 -DIFF 7629 -DIFF 7185 -DIFF 21648 -DIFF 6999 -DIFF 11055 -DIFF 10333 -DIFF 5259 -DIFF 7185 -DIFF 5129 -DIFF 8333 -DIFF 5871 -DIFF 5333 -DIFF 10462 -DIFF 8666 -DIFF 8666 -DIFF 6240 -DIFF 5166 -DIFF 13389 -DIFF 6037 -DIFF 6351 -DIFF 11240 -DIFF 5704 -DIFF 5481 -DIFF 6185 -DIFF 5370 -DIFF 5166 -DIFF 5500 -DIFF 5185 -DIFF 5296 -DIFF 5019 -DIFF 5185 -DIFF 5463 -DIFF 7018 -DIFF 5129 -DIFF 5389 -DIFF 5129 -DIFF 5130 -DIFF 6222 -DIFF 5759 -DIFF 5296 -DIFF 5704 -DIFF 5815 -DIFF 7556 -DIFF 7537 -DIFF 7148 -DIFF 5018 -DIFF 7723 -DIFF 6685 -DIFF 8352 -DIFF 9833 -DIFF 6037 -DIFF 9648 -DIFF 10741 -DIFF 7037 -DIFF 28167 -DIFF 8333 -DIFF 5223 -DIFF 5778 -DIFF 8333 -DIFF 7000 -DIFF 6259 -DIFF 7019 -DIFF 5685 -DIFF 7148 -DIFF 5463 -DIFF 7871 -DIFF 6797 -DIFF 5463 -DIFF 5093 -DIFF 10463 -DIFF 5500 -DIFF 8370 -DIFF 8722 -DIFF 10908 -DIFF 9926 -DIFF 9092 -DIFF 9833 -DIFF 8185 -DIFF 8945 -DIFF 8389 -DIFF 7611 -DIFF 7852 -DIFF 14074 -DIFF 9556 -DIFF 19500 -DIFF 13092 -DIFF 17722 -DIFF 18203 -DIFF 22593 -DIFF 14481 -DIFF 15666 -DIFF 12296 -DIFF 16648 -DIFF 15148 -DIFF 15426 -DIFF 9019 -DIFF 11592 -2022/01/31 14:36:09.044 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000010 -2022/01/31 14:36:09.045 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000005 -2022/01/31 14:36:09.245 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000073 -2022/01/31 14:36:09.245 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000007 -2022/01/31 14:36:09.445 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000009 -2022/01/31 14:36:09.445 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000006 -2022/01/31 14:36:09.645 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010 -2022/01/31 14:36:09.646 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=713 fPos=19.912 fActPosition=19.95 time=0.000006 -2022/01/31 14:36:09.846 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.992 fActPosition=19.98 time=0.000057 -2022/01/31 14:36:09.846 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=696 fPos=19.464 fActPosition=19.44 time=0.000006 -2022/01/31 14:36:10.046 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.952 fActPosition=19.98 time=0.000010 -2022/01/31 14:36:10.046 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=670 fPos=18.652 fActPosition=18.66 time=0.000006 -2022/01/31 14:36:10.246 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64874 fPos=19.84 fActPosition=19.83 time=0.000011 -2022/01/31 14:36:10.247 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=632 fPos=17.516 fActPosition=17.52 time=0.000006 -2022/01/31 14:36:10.447 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64880 fPos=19.668 fActPosition=19.65 time=0.000053 -2022/01/31 14:36:10.447 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=594 fPos=16.384 fActPosition=16.38 time=0.000006 -2022/01/31 14:36:10.647 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64887 fPos=19.432 fActPosition=19.44 time=0.000010 -2022/01/31 14:36:10.647 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=557 fPos=15.284 fActPosition=15.27 time=0.000006 -DIFF 10722 -DIFF 13667 -DIFF 10018 -DIFF 12130 -DIFF 9796 -DIFF 12166 -DIFF 12167 -DIFF 12445 -DIFF 7500 -DIFF 7240 -DIFF 5463 -DIFF 5926 -DIFF 5500 -DIFF 6740 -DIFF 5370 -DIFF 6500 -DIFF 6278 -DIFF 7518 -DIFF 5500 -DIFF 8167 -DIFF 8389 -DIFF 6630 -DIFF 7407 -DIFF 7759 -DIFF 10611 -DIFF 9148 -DIFF 7111 -DIFF 9186 -DIFF 8463 -DIFF 6704 -DIFF 10278 -DIFF 5074 -DIFF 12259 -DIFF 6426 -DIFF 5871 -DIFF 8426 -DIFF 14296 -DIFF 5759 -DIFF 6481 -DIFF 6203 -DIFF 9148 -DIFF 5593 -DIFF 10871 -DIFF 9667 -DIFF 15722 -DIFF 13351 -DIFF 8426 -DIFF 6834 -DIFF 5759 -DIFF 30722 -DIFF 9259 -DIFF 8444 -DIFF 18055 -DIFF 13055 -DIFF 9815 -DIFF 8963 -DIFF 6426 -DIFF 6611 -DIFF 5056 -DIFF 6907 -DIFF 8667 -DIFF 5111 -DIFF 5426 -DIFF 5722 -DIFF 5222 -DIFF 5055 -DIFF 5037 -DIFF 6796 -DIFF 11241 -DIFF 6537 -DIFF 5926 -DIFF 5740 -DIFF 6167 -DIFF 5240 -DIFF 5370 -DIFF 5815 -DIFF 5815 -DIFF 7371 -DIFF 7333 -DIFF 7463 -DIFF 6574 -GRBL: INFO: Reply OK (command[1] = G4P2) -GRBL: INFO: Write command (command[2] = G2X0Y0R20) +GRBL: INFO: Reply OK (command[3] = G4P2) +GRBL: INFO: Write command (command[4] = G2X0Y0R20) Added: G2X0Y0R20../grbl/grbl_gcode.c:gc_execute_line:71: ../grbl/grbl_motion_control.c:mc_arc:91: ../grbl/grbl_motion_control.c:mc_line:33: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: +../grbl/grbl_stepper.c:st_update_plan_block_parameters:643: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: +../grbl/grbl_stepper.c:st_update_plan_block_parameters:643: ../grbl/grbl_motion_control.c:mc_line:33: ../grbl/grbl_motion_control.c:mc_line:33: ../grbl/grbl_motion_control.c:mc_line:33: @@ -4822,3857 +3376,230 @@ Added: G2X0Y0R20../grbl/grbl_gcode.c:gc_execute_line:71: ../grbl/grbl_motion_control.c:mc_line:33: ../grbl/grbl_motion_control.c:mc_line:33: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_stepper.c:st_wake_up:228: ../grbl/grbl_motion_control.c:mc_line:33: GRBL busy: 1.00000 -DIFF 5796 -DIFF 6204 -DIFF 6426 -DIFF 7592 -DIFF 5981 -DIFF 6148 ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5204 -DIFF 5074 -DIFF 5537 -DIFF 5259 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5241 -DIFF 5870 -DIFF 5852 -DIFF 7944 -DIFF 6537 -DIFF 6573 -DIFF 8203 -DIFF 9315 -DIFF 8463 -DIFF 8352 -DIFF 7556 -DIFF 7018 -DIFF 8037 -DIFF 11259 -DIFF 8407 -DIFF 11833 -DIFF 6630 -DIFF 6629 -DIFF 5481 -DIFF 10518 -DIFF 5204 -DIFF 5444 -DIFF 5611 -DIFF 6870 -DIFF 5277 -DIFF 5685 -DIFF 5666 -DIFF 5889 -DIFF 5407 -DIFF 5093 -DIFF 5222 -DIFF 5981 -DIFF 5648 -DIFF 5574 -DIFF 5036 -DIFF 5222 -DIFF 5777 -DIFF 6351 -DIFF 5019 -DIFF 5018 -DIFF 5092 -DIFF 6296 -DIFF 5555 -DIFF 5074 -DIFF 5037 -DIFF 6648 -DIFF 5481 -DIFF 5315 -DIFF 5056 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5944 -DIFF 5722 -DIFF 6481 -DIFF 6018 -DIFF 5852 -DIFF 7092 -DIFF 7408 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5648 -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5056 -DIFF 5351 -DIFF 6537 -DIFF 8278 -DIFF 6851 -DIFF 7962 -DIFF 6445 -DIFF 5519 -DIFF 6852 -DIFF 9833 -DIFF 6796 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5351 -DIFF 5352 -DIFF 5297 -DIFF 7093 -DIFF 6370 -DIFF 7370 -DIFF 6074 -DIFF 5962 -DIFF 6186 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6130 -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5389 -DIFF 7389 -DIFF 5722 -DIFF 5963 -DIFF 7704 -DIFF 7963 -DIFF 6536 -DIFF 8426 -DIFF 6296 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: GRBL busy: 1.00000 ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5093 -DIFF 6592 -DIFF 6278 -DIFF 6426 -DIFF 7371 -DIFF 5296 -DIFF 6592 -DIFF 7092 -DIFF 5592 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7296 -DIFF2022/01/31 14:36:10.848 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64898 fPos=19.132 fActPosition=19.11 time=0.000010 -2022/01/31 14:36:10.848 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=520 fPos=14.18 fActPosition=14.16 time=0.000006 -2022/01/31 14:36:11.048 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64910 fPos=18.756 fActPosition=18.75 time=0.000011 -2022/01/31 14:36:11.048 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=483 fPos=13.06 fActPosition=13.05 time=0.000006 -2022/01/31 14:36:11.248 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64924 fPos=18.312 fActPosition=18.33 time=0.000010 -2022/01/31 14:36:11.248 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=447 fPos=11.968 fActPosition=11.97 time=0.000006 -2022/01/31 14:36:11.449 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64941 fPos=17.828 fActPosition=17.82 time=0.000011 -2022/01/31 14:36:11.449 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=412 fPos=10.944 fActPosition=10.92 time=0.000006 -2022/01/31 14:36:11.649 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64960 fPos=17.268 fActPosition=17.25 time=0.000011 -2022/01/31 14:36:11.649 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=378 fPos=9.908 fActPosition=9.9 time=0.000006 -2022/01/31 14:36:11.849 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64980 fPos=16.66 fActPosition=16.65 time=0.000010 -2022/01/31 14:36:11.849 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=346 fPos=8.94 fActPosition=8.94 time=0.000006 -2022/01/31 14:36:12.050 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65002 fPos=15.988 fActPosition=15.99 time=0.000012 -2022/01/31 14:36:12.050 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=314 fPos=7.98 fActPosition=7.98 time=0.000126 -2022/01/31 14:36:12.250 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65026 fPos=15.268 fActPosition=15.27 time=0.000010 -2022/01/31 14:36:12.250 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=284 fPos=7.084 fActPosition=7.08 time=0.000006 -2022/01/31 14:36:12.450 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65052 fPos=14.492 fActPosition=14.49 time=0.000011 -2022/01/31 14:36:12.451 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=255 fPos=6.216 fActPosition=6.21 time=0.000006 -2022/01/31 14:36:12.651 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65080 fPos=13.664 fActPosition=13.65 time=0.000073 -2022/01/31 14:36:12.651 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=5.396 fActPosition=5.4 time=0.000007 -2022/01/31 14:36:12.851 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65109 fPos=12.788 fActPosition=12.78 time=0.000011 -2022/01/31 14:36:12.851 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=202 fPos=4.624 fActPosition=4.62 time=0.000007 -2022/01/31 14:36:13.052 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65139 fPos=11.884 fActPosition=11.88 time=0.000011 -2022/01/31 14:36:13.052 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=178 fPos=3.916 fActPosition=3.9 time=0.000006 - 5574 -DIFF 6870 -DIFF 6870 -DIFF 6148 -DIFF 6019 -DIFF 6093 -DIFF 6870 -DIFF 7315 -DIFF 6241 -DIFF 7185 -DIFF 7574 -DIFF 7148 -DIFF 6333 -DIFF 6092 -DIFF 7056 -DIFF 6760 -DIFF 8315 -DIFF 6963 -DIFF 7666 -DIFF 7999 -DIFF 10592 -DIFF 7519 -DIFF 8259 -DIFF 7148 -DIFF 11500 -DIFF 6630 -DIFF 5833 -DIFF 5648 -DIFF 5482 -DIFF 5463 -DIFF 7944 -DIFF 8111 -DIFF 6056 -DIFF 6889 -DIFF 6482 -DIFF 6778 -DIFF 6371 -DIFF 6389 -DIFF 6630 -DIFF 7148 -DIFF 7444 -DIFF 5519 -DIFF 5778 -DIFF 6278 -DIFF 6963 -DIFF 5426 -DIFF 6778 -DIFF 6574 -DIFF 5444 -DIFF 6167 -DIFF 6741 -DIFF 6685 -DIFF 7389 -DIFF 8333 -DIFF 9741 -DIFF 5611 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5556 -DIFF 6074 -DIFF 6407 -DIFF 6463 -DIFF 5277 -DIFF 5666 -DIFF 7704 -DIFF 6445 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5871 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5185 -DIFF 5445 -DIFF 6981 -DIFF 7111 -DIFF 5888 -DIFF 6536 -DIFF 6241 -DIFF 5222 -DIFF 6259 -DIFF 5982 -DIFF 5889 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6185 -DIFF 13148 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5463 -DIFF 5222 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5148 -DIFF 5500 -DIFF 6074 -DIFF 6555 -DIFF 13074 -DIFF 5648 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6222 -DIFF 7037 -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5074 -DIFF 5185 -DIFF 7315 -DIFF 5241 -DIFF 6574 -DIFF 5388 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 7166 -DIFF 5537 -DIFF 5833 -../grbl/grbl_stepper.c:st_next_block_index:652: +../grbl/grbl_stepper.c:st_next_block_index:656: GRBL busy: 1.00000 ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6851 -DIFF 6870 -DIFF 5444 -DIFF 30352 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5963 -DIFF 7314 -DIFF 6926 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5315 -DIFF 6907 -DIFF 6370 -DIFF 7352 +../grbl/grbl_stepper.c:st_next_bl2022/02/01 11:20:50.379 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64992 fPos=16.304 fActPosition=16.29 time=0.000075 +2022/02/01 11:20:50.379 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1143 fPos=8.42 fActPosition=8.4 time=0.000008 +2022/02/01 11:20:50.579 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65015 fPos=15.604 fActPosition=15.6 time=0.000009 +2022/02/01 11:20:50.579 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1113 fPos=7.488 fActPosition=7.5 time=0.000006 +2022/02/01 11:20:50.779 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65040 fPos=14.86 fActPosition=14.85 time=0.000008 +2022/02/01 11:20:50.780 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1083 fPos=6.612 fActPosition=6.6 time=0.000005 +2022/02/01 11:20:50.980 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65067 fPos=14.048 fActPosition=14.04 time=0.000008 +2022/02/01 11:20:50.980 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1055 fPos=5.764 fActPosition=5.76 time=0.000006 +2022/02/01 11:20:51.180 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65096 fPos=13.188 fActPosition=13.17 time=0.000009 +2022/02/01 11:20:51.180 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1028 fPos=4.968 fActPosition=4.95 time=0.000006 +2022/02/01 11:20:51.380 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65124 fPos=12.316 fActPosition=12.33 time=0.000008 +2022/02/01 11:20:51.381 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1004 fPos=4.24 fActPosition=4.23 time=0.000165 +2022/02/01 11:20:51.581 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65157 fPos=11.364 fActPosition=11.34 time=0.000008 +2022/02/01 11:20:51.581 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=981 fPos=3.544 fActPosition=3.54 time=0.000006 +2022/02/01 11:20:51.781 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65188 fPos=10.408 fActPosition=10.41 time=0.000009 +2022/02/01 11:20:51.781 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=960 fPos=2.924 fActPosition=2.91 time=0.000006 +2022/02/01 11:20:51.982 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65222 fPos=9.384 fActPosition=9.39 time=0.000013 +2022/02/01 11:20:51.982 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=941 fPos=2.34 fActPosition=2.34 time=0.000006 +2022/02/01 11:20:52.182 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65257 fPos=8.356 fActPosition=8.34 time=0.000009 +2022/02/01 11:20:52.182 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=924 fPos=1.828 fActPosition=1.83 time=0.000006 +2022/02/01 11:20:52.382 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65292 fPos=7.296 fActPosition=7.29 time=0.000010 +2022/02/01 11:20:52.382 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=909 fPos=1.38 fActPosition=1.38 time=0.000006 +2022/02/01 11:20:52.583 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65329 fPos=6.176 fActPosition=6.18 time=0.000011 +2022/02/01 11:20:52.583 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=896 fPos=0.98 fActPosition=0.99 time=0.000006 +2022/02/01 11:20:52.783 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65366 fPos=5.068 fActPosition=5.07 time=0.000011 +2022/02/01 11:20:52.783 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=884 fPos=0.652 fActPosition=0.63 time=0.000006 +2022/02/01 11:20:52.983 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65403 fPos=3.968 fActPosition=3.96 time=0.000011 +2022/02/01 11:20:52.983 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=876 fPos=0.4 fActPosition=0.39 time=0.000006 +2022/02/01 11:20:53.184 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65440 fPos=2.864 fActPosition=2.85 time=0.000465 +2022/02/01 11:20:53.184 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=870 fPos=0.208 fActPosition=0.21 time=0.000010 +2022/02/01 11:20:53.385 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65479 fPos=1.688 fActPosition=1.68 time=0.000017 +2022/02/01 11:20:53.385 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=865 fPos=0.068 fActPosition=0.06 time=0.000012 +2022/02/01 11:20:53.585 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65510 fPos=0.752 fActPosition=0.75 time=0.000018 +2022/02/01 11:20:53.585 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=863 fPos=0.016 fActPosition=0 time=0.000010 +2022/02/01 11:20:53.786 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65529 fPos=0.192 fActPosition=0.18 time=0.000019 +2022/02/01 11:20:53.786 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0.004 fActPosition=0 time=0.000011 +2022/02/01 11:20:53.986 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000016 +2022/02/01 11:20:53.986 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000011 +2022/02/01 11:20:54.187 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000106 +2022/02/01 11:20:54.187 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000009 +2022/02/01 11:20:54.387 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000015 +2022/02/01 11:20:54.387 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000009 +2022/02/01 11:20:54.588 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000016 +2022/02/01 11:20:54.588 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000168 +2022/02/01 11:20:54.788 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000015 +2022/02/01 11:20:54.788 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000010 +2022/02/01 11:20:54.988 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000016 +2022/02/01 11:20:54.989 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000010 +2022/02/01 11:20:55.189 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000016 +2022/02/01 11:20:55.189 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000009 +2022/02/01 11:20:55.389 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000015 +2022/02/01 11:20:55.389 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000010 +2022/02/01 11:20:55.590 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000090 +2022/02/01 11:20:55.590 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000011 +2022/02/01 11:20:55.790 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000015 +2022/02/01 11:20:55.790 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000010 +2022/02/01 11:20:55.990 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011 +2022/02/01 11:20:55.991 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=863 fPos=0 fActPosition=0 time=0.000008 +2022/02/01 11:20:56.191 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65527 fPos=0.228 fActPosition=0.24 time=0.000010 +2022/02/01 11:20:56.191 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=870 fPos=0.228 fActPosition=0.21 time=0.000006 +2022/02/01 11:20:56.391 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65507 fPos=0.824 fActPosition=0.84 time=0.000008 +2022/02/01 11:20:56.391 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=891 fPos=0.824 fActPosition=0.84 time=0.000007 +2022/02/01 11:20:56.592 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65476 fPos=1.78 fActPosition=1.77 time=0.000011 +2022/02/01 11:20:56.592 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=923 fPos=1.788 fActPosition=1.8 time=0.000006 +2022/02/01 11:20:56.792 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65431 fPos=3.112 fActPosition=3.12 time=0.000008 +2022/02/01 11:20:56.792 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=967 fPos=3.112 fActPosition=3.12 time=0.000005 +2022/02/01 11:20:56.992 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65377 fPos=4.74 fActPosition=4.74 time=0.000008 +2022/02/01 11:20:56.992 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1021 fPos=4.74 fActPosition=4.74 time=0.000006 +2022/02/01 11:20:57.193 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65321 fPos=6.42 fActPosition=6.42 time=0.000094 +2022/02/01 11:20:57.193 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1078 fPos=6.42 fActPosition=6.45 time=0.000006 +2022/02/01 11:20:57.393 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65272 fPos=7.872 fActPosition=7.89 time=0.000009 +2022/02/01 11:20:57.393 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1126 fPos=7.872 fActPosition=7.89 time=0.000005 +2022/02/01 11:20:57.593 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65237 fPos=8.944 fActPosition=8.94 time=0.000009 +2022/02/01 11:20:57.593 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1161 fPos=8.944 fActPosition=8.94 time=0.000006 +2022/02/01 11:20:57.794 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65213 fPos=9.656 fActPosition=9.66 time=0.000010 +2022/02/01 11:20:57.794 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1185 fPos=9.66 fActPosition=9.66 time=0.000219 +2022/02/01 11:20:57.994 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000010 +2022/02/01 11:20:57.994 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1197 fPos=10 fActPosition=10.02 time=0.000006 +ock_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5556 -DIFF 7444 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5037 -DIFF 6685 -DIFF 5222 -DIFF 5629 -DIFF 5871 -DIFF 6148 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5667 -DIFF 6333 -DIFF 6055 -DIFF 5445 -DIFF 5889 -DIFF 6259 -DIFF 5537 -DIFF 6778 -DIFF 5981 -DIFF 5815 -DIFF 5759 -DIFF 8110 -DIFF 7870 -DIFF 6000 -DIFF 16018 -DIFF 6093 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5556 -DIFF 6111 -DIFF 5129 -DIFF 6907 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5055 -DIFF 5240 -DIFF 6352 -DIFF 5037 -DIFF 6648 -DIFF 7481 -DIFF 12630 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5148 -DIFF 5037 -DIFF 5129 -DIFF 6685 -DIFF 9203 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6740 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5796 -DIFF 5518 -DIFF 6703 -DIFF 6333 -DIFF 5370 -DIFF 10389 -DIFF 7593 -DIFF 6870 -DIFF 5777 -DIFF 10814 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6481 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5962 -DIFF 5760 -DIFF 5759 -DIFF 5518 +../grbl/grbl_stepper.c:st_next_block_index:656: GRBL busy: 1.00000 ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5371 -DIFF 9703 -DIFF 5944 -DIFF 6259 -DIFF 8759 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5833 -DIFF 8019 -DIFF 7055 -DIFF 5574 -DIFF 7259 -DIFF 6667 -DIFF 6259 -DIFF 6371 -DIFF 5760 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5722 -DIFF 5333 -DIFF 6740 -DIFF 7204 -DIFF 6834 -DIFF 6741 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6611 -DIFF 8630 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6352 -DIFF 5555 -DIFF 5925 -DIFF 5703 -DIFF 5703 -DIFF 5203 -DIFF 6481 -DIFF 7667 -DIFF 6445 -DIFF 10444 -../grbl/grbl_motio2022/01/31 14:36:13.252 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65171 fPos=10.924 fActPosition=10.92 time=0.000011 -2022/01/31 14:36:13.252 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=156 fPos=3.252 fActPosition=3.24 time=0.000007 -2022/01/31 14:36:13.452 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65203 fPos=9.948 fActPosition=9.96 time=0.000012 -2022/01/31 14:36:13.452 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=136 fPos=2.648 fActPosition=2.64 time=0.000007 -2022/01/31 14:36:13.653 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65238 fPos=8.912 fActPosition=8.91 time=0.000011 -2022/01/31 14:36:13.653 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=118 fPos=2.096 fActPosition=2.1 time=0.000007 -2022/01/31 14:36:13.853 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65272 fPos=7.884 fActPosition=7.89 time=0.000063 -2022/01/31 14:36:13.853 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=102 fPos=1.62 fActPosition=1.62 time=0.000006 -2022/01/31 14:36:14.053 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65309 fPos=6.78 fActPosition=6.78 time=0.000018 -2022/01/31 14:36:14.054 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=88 fPos=1.188 fActPosition=1.2 time=0.000013 -2022/01/31 14:36:14.254 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65346 fPos=5.664 fActPosition=5.67 time=0.000200 -2022/01/31 14:36:14.254 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=75 fPos=0.82 fActPosition=0.81 time=0.000012 -n_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5722 -DIFF 6389 -DIFF 7055 -DIFF 6389 -DIFF 5408 -DIFF 6426 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5352 -DIFF 6537 -DIFF 6944 -DIFF 7982 -DIFF 6482 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6093 -DIFF 6759 -DIFF 5092 -DIFF 6019 +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7370 -DIFF 7167 -DIFF 6296 -GRBL: INFO: Reply OK (command[2] = G2X0Y0R20) -GRBL: INFO: Write command (command[3] = G4P2) -Added: G4P2DIFF 12759 -../grbl/grbl_gcode.c:gc_execute_line:71: -../grbl/grbl_motion_control.c:mc_dwell:200: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5407 -DIFF 5074 -DIFF 6186 -DIFF 5444 -GRBL busy: 1.00000 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5297 -DIFF 7055 -DIFF 5574 -DIFF 8056 -DIFF 7018 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 8666 -DIFF 5962 -DIFF 6241 -DIFF 5463 -DIFF 7259 -DIFF 14574 -DIFF 6666 -DIFF 5018 -DIFF 6482 -DIFF 5555 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5796 -DIFF 7407 -DIFF 5019 -DIFF 6000 -DIFF 8167 -DIFF 10092 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5278 -DIFF 5482 -DIFF 7555 -DIFF 10056 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5630 -DIFF 5944 -DIFF 74536 -DIFF 6056 -DIFF 6204 -DIFF 5629 -DIFF 5093 -DIFF 5555 -DIFF 5259 -DIFF 6556 -DIFF 6611 -DIFF 8537 -DIFF 7611 -DIFF 5333 -DIFF 5130 -DIFF 5185 -DIFF 5167 -DIFF 5148 -DIFF 5185 -DIFF 7593 -DIFF 5814 -DIFF 5167 -DIFF 5815 -DIFF 5055 -DIFF 5204 -DIFF 8000 -DIFF 5463 -DIFF 5055 -DIFF 5129 -DIFF 6778 -DIFF 5778 -DIFF 5074 -DIFF 6073 -DIFF 5148 -DIFF 5111 -DIFF 5259 -DIFF 5185 -DIFF 5093 -DIFF 5092 -DIFF 6278 -DIFF 5815 -DIFF 5111 -DIFF 5667 -DIFF 5222 -DIFF 5074 -DIFF 5222 -DIFF 5241 -DIFF 5204 -DIFF 5055 -DIFF 8000 -DIFF 6426 -DIFF 5333 -DIFF 5741 -DIFF 5074 -DIFF 5926 -DIFF 5167 -DIFF 5278 -DIFF 5259 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7685 -DIFF 11704 -DIFF 10500 -DIFF 6408 -DIFF 7259 -DIFF 9760 -DIFF 9555 -DIFF 10407 -DIFF 6592 -DIFF 5055 -DIFF 5537 -DIFF 8092 -DIFF 9685 -DIFF 9056 -DIFF 12759 -DIFF 5741 -DIFF 5148 -DIFF 5685 -DIFF 6408 -DIFF 5926 -DIFF 5370 -DIFF 7482 -DIFF 5815 -DIFF 5352 -DIFF 6463 -DIFF 5259 -DIFF 5093 -DIFF 5222 -DIFF 5296 -DIFF 5351 -DIFF 5555 -DIFF 6148 -DIFF 6185 -DIFF 8815 -DIFF 6093 -DIFF 6611 -DIFF 6685 -DIFF 5796 -DIFF 5185 -DIFF 6685 -DIFF 11500 -DIFF 9352 -DIFF 7055 -DIFF 6815 -DIFF 6037 -DIFF 9499 -DIFF 7296 -DIFF 5593 -DIFF 8482 -DIFF 8000 -DIFF 7314 -DIFF 8278 -DIFF 8056 -DIFF 5241 -DIFF 5222 -DIFF 5167 -DIFF 5315 -DIFF 5204 -DIFF 5111 -DIFF 10610 -DIFF 6074 -DIFF 5223 -DIFF 5296 -DIFF 5426 -DIFF 5352 -DIFF 5166 -DIFF 6074 -DIFF 5018 -DIFF 7907 -DIFF 6148 -DIFF 5297 -DIFF 5148 -DIFF 5036 -DIFF 5260 -DIFF 5111 -DIFF 5204 -DIFF 5574 -DIFF 6870 -DIFF 5814 -DIFF 5148 -DIFF 5203 -DIFF 5056 -DIFF 5055 -DIFF 5204 -DIFF 5037 -DIFF 5371 -DIFF 5945 -DIFF 7889 -DIFF 5777 -DIFF 5222 -DIFF 5130 -DIFF 5185 -DIFF 5222 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 9240 -DIFF 6907 -DIFF 5926 -DIFF 5611 -DIFF 7111 -DIFF 5926 -DIFF 5056 -DIFF 5241 -DIFF 5370 -DIFF 5111 -DIFF 5556 -DIFF 5167 -DIFF 5462 -DIFF 5203 -DIFF 6037 -DIFF 5129 -DIFF 5278 -DIFF 5203 -DIFF 5370 -DIFF 5092 -DIFF 5500 -DIFF 5185 -DIFF 5185 -DIFF 5019 -DIFF 6574 -DIFF 5741 -DIFF 5352 -DIFF 5167 -DIFF 5166 -DIFF 5611 -DIFF 6888 -DIFF 8499 -DIFF 7518 -DIFF 8944 -DIFF 6130 -DIFF 5278 -DIFF 5259 -DIFF 5148 -DIFF 5037 -DIFF 5593 -DIFF 5759 -DIFF 5129 -DIFF 7056 -DIFF 5908 -DIFF 5241 -DIFF 5888 -DIFF 9963 -DIFF 7037 -DIFF 5129 -DIFF 5426 -DIFF 5426 -DIFF 5259 -DIFF 7759 -DIFF 6056 -DIFF 5074 -DIFF 5092 -DIFF 5185 -DIFF 5148 -DIFF 5611 -DIFF 5148 -DIFF 5186 -DIFF 6926 -DIFF 5944 -DIFF 5185 -DIFF 5129 -DIFF 5204 -DIFF 6629 -DIFF 5315 -DIFF 6407 -DIFF 5833 -DIFF 5130 -DIFF 5203 -DIFF 5111 -DIFF 5019 -DIFF 5222 -DIFF 5055 -DIFF 6500 -DIFF 5074 -DIFF 6055 -DIFF 5815 -DIFF 5185 -DIFF 5019 -DIFF 5148 -DIFF 5296 -DIFF 5074 -DIFF 5537 -DIFF 5111 -DIFF 6982 -DIFF 8648 -DIFF 5815 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6556 -DIFF 5407 -DIFF 5278 -DIFF 5278 -DIFF 5519 -DIFF 5203 -DIFF 7093 -DIFF 5371 -DIFF 7519 -DIFF 6685 -DIFF 8481 -DIFF 7407 -DIFF 9166 -DIFF 13315 -DIFF 6315 -DIFF 5500 -DIFF 6185 -DIFF 8444 -DIFF 10907 -DIFF 10074 -DIFF 96852022/01/31 14:36:14.455 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65383 fPos=4.56 fActPosition=4.56 time=0.000019 -2022/01/31 14:36:14.455 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=66 fPos=0.528 fActPosition=0.54 time=0.000076 -2022/01/31 14:36:14.655 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65420 fPos=3.452 fActPosition=3.45 time=0.000019 -2022/01/31 14:36:14.656 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=58 fPos=0.3 fActPosition=0.3 time=0.000011 - -DIFF 5834 -DIFF 5944 -DIFF 8629 -DIFF 6333 -DIFF 5204 -DIFF 9796 -DIFF 7945 -DIFF 5556 -DIFF 5315 -DIFF 14870 -DIFF 8611 -DIFF 5519 -DIFF 5333 -DIFF 5223 -DIFF 5111 -DIFF 6519 -DIFF 5833 -DIFF 5407 -DIFF 5685 -DIFF 5074 -DIFF 5389 -DIFF 5130 -DIFF 6851 -DIFF 8315 -DIFF 6370 -DIFF 11778 -DIFF 9093 -DIFF 8500 -DIFF 9037 -DIFF 9130 -DIFF 5611 -DIFF 5111 -DIFF 5241 -DIFF 5240 -DIFF 7093 -DIFF 5203 -DIFF 5148 -DIFF 5593 -DIFF 5204 -DIFF 12963 -DIFF 11870 -DIFF 10519 -DIFF 16371 -DIFF 12055 -DIFF 5796 -DIFF 5203 -DIFF 6630 -DIFF 5129 -DIFF 5130 -DIFF 6314 -DIFF 5685 -DIFF 5056 -DIFF 6185 -DIFF 5463 -DIFF 5204 -DIFF 5204 -DIFF 5296 -DIFF 5241 -DIFF 5093 -DIFF 5723 -DIFF 5944 -DIFF 5148 -DIFF 5926 -DIFF 5314 -DIFF 5204 -DIFF 5185 -DIFF 5371 -DIFF 5130 -DIFF 5185 -DIFF 6167 -DIFF 5278 -DIFF 5259 -DIFF 6352 -DIFF 5870 -DIFF 6036 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5648 -DIFF 5351 -DIFF 5111 -DIFF 5148 -DIFF 5130 -DIFF 5167 -DIFF 6833 -DIFF 6092 -DIFF 5204 -DIFF 10648 -DIFF 6334 -DIFF 5203 -DIFF 5203 -DIFF 5759 -DIFF 5204 -DIFF 8130 -DIFF 5815 -DIFF 5166 -DIFF 5111 -DIFF 5444 -DIFF 5203 -DIFF 5056 -DIFF 5148 -DIFF 5130 -DIFF 8000 -DIFF 5963 -DIFF 5297 -DIFF 5092 -DIFF 5815 -DIFF 5277 -DIFF 5148 -DIFF 5389 -DIFF 5111 -DIFF 6222 -DIFF 5907 -DIFF 13814 -DIFF 5278 -DIFF 5333 -DIFF 5963 -DIFF 5185 -DIFF 5278 -DIFF 6407 -DIFF 6074 -DIFF 6000 -DIFF 5166 -DIFF 5129 -DIFF 5111 -DIFF 5667 -DIFF 5315 -DIFF 5259 -DIFF 5074 -DIFF 6222 -DIFF 5556 -DIFF 6203 -DIFF 5222 -DIFF 5333 -DIFF 5519 -DIFF 5240 -DIFF 5167 -DIFF 5611 -DIFF 5555 -DIFF 5185 -DIFF 5241 -DIFF 5186 -DIFF 5481 -DIFF 5185 -DIFF 5222 -DIFF 6352 -DIFF 5870 -DIFF 5203 -DIFF 5148 -DIFF 5389 -DIFF 5445 -DIFF 5259 -DIFF 5722 -DIFF 5185 -DIFF 6777 -DIFF 6426 -DIFF 5203 -DIFF 5185 -DIFF 5203 -DIFF 5223 -DIFF 5445 -DIFF 5074 -DIFF 5463 -DIFF 6370 -DIFF 8018 -DIFF 9203 -DIFF 5352 -DIFF 5074 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5666 -DIFF 5333 -DIFF 5370 -DIFF 5240 -DIFF 5130 -DIFF 5852 -DIFF 5240 -DIFF 5463 -DIFF 7777 -DIFF 9018 -DIFF 9555 -DIFF 9574 -DIFF 6203 -DIFF 5204 -DIFF 5333 -DIFF 11184 -DIFF 10537 -DIFF 8815 -DIFF 13203 -DIFF 5352 -DIFF 16814 -DIFF 5999 -DIFF 6425 -DIFF 5278 -DIFF 8259 -DIFF 6685 -DIFF 5463 -DIFF 5204 -DIFF 5982 -DIFF 5556 -DIFF 5241 -DIFF 5074 -DIFF 5463 -DIFF 7500 -DIFF 6704 -DIFF 5259 -DIFF 5203 -DIFF 5260 -DIFF 5277 -DIFF 7907 -DIFF 9759 -DIFF 10703 -DIFF 7481 -DIFF 8111 -DIFF 14445 -DIFF 7426 -DIFF 5537 -DIFF 5111 -DIFF 5204 -DIFF 5111 -DIFF 16926 -DIFF 15740 -DIFF 15833 -DIFF 15907 -DIFF 8704 -DIFF 8537 -DIFF 7777 -DIFF 5592 -DIFF 5351 -DIFF 5870 -DIFF 6314 -DIFF 15333 -DIFF 8425 -DIFF 5277 -DIFF 5018 -DIFF 5888 -DIFF 5499 -DIFF 5148 -DIFF 5352 -DIFF 5352 -DIFF 5555 -DIFF 7629 -DIFF 5797 -DIFF 5222 -DIFF 5296 -DIFF 5185 -DIFF 5130 -DIFF 5130 -DIFF 5093 -DIFF 5500 -DIFF 11537 -DIFF 7834 -DIFF 5185 -DIFF 5963 -DIFF 5297 -DIFF 5333 -DIFF 5203 -DIFF 5241 -GRBL busy: 1.00000 -DIFF 5500 -DIFF 5167 -DIFF 6815 -DIFF 5370 -DIFF 5704 -DIFF 5277 -DIFF 5111 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6296 -DIFF 6055 -DIFF 5222 -DIFF 5407 -DIFF 6000 -DIFF 5685 -DIFF 5296 -DIFF 6240 -DIFF 5370 -DIFF 5574 -DIFF 5945 -DIFF 5241 -DIFF 5296 -DIFF 7555 -DIFF 6445 -DIFF 9870 -DIFF 8167 -DIFF 5148 -DIFF 5296 -DIFF 5463 -DIFF 5351 -DIFF 5092 -DIFF 7592 -DIFF 5944 -DIFF 5518 -DIFF 5259 -DIFF 5315 -DIFF 5074 -DIFF 5130 -DIFF 5389 -DIFF 5203 -DIFF 6944 -DIFF 6055 -DIFF 5111 -DIFF 5055 -DIFF 5388 -DIFF 5130 -DIFF 5425 -DIFF 5908 -DIFF 6407 -DIFF 5796 -DIFF 5277 -DIFF 5296 -DIFF 5352 -DIFF 5241 -DIFF 5222 -DIFF 5296 -DIFF 5500 -DIFF 6611 -DIFF 5777 -DIFF 5074 -DIFF 5092 -DIFF 5241 -DIFF 5148 -DIFF 5352 -DIFF 5222 -DIFF 5314 -DIFF 6851 -DIFF 5815 -DIFF 5204 -DIFF 5278 -DIFF 5166 -DIFF 5259 -DIFF 5259 -DIFF 6537 -DIFF 5333 -DIFF 5870 -DIFF 6129 -DIFF 5259 -DIFF 5203 -DIFF 5203 -DIFF 5129 -DIFF 5222 -DIFF 5111 -DIFF 5148 -DIFF 5204 -DIFF 6204 -DIFF 6851 -DIFF 5259 -DIFF 5129 -DIFF 5093 -DIFF 5129 -DIFF 5185 -DIFF 5278 -DIFF 5204 -DIFF 5129 -DIFF 6203 -DIFF 5259 -DIFF 8537 -DIFF 5759 -DIFF 5259 -DIFF 5092 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5500 -DIFF 5185 -DIFF 6796 -DIFF 6111 -DIFF 5185 -DIFF 8148 -DIFF 7722 -DIFF 8963 -DIFF 7852 -DIFF 7759 -DIFF 7444 -DIFF 5574 -DIFF 7907 -DIFF 7000 -DIFF 5537 -DIFF 5389 -DIFF 5315 -DIFF 5371 -DIFF 5926 -DIFF 11463 -DIFF 12334 -DIFF 17481 -DIFF 6167 -DIFF 5222 -DIFF 5278 -DIFF 10093 -DIFF 8796 -DIFF 5740 -DIFF 5240 -DIFF 5241 -DIFF 8703 -DIFF 5888 -DIFF 5537 -DIFF 512022/01/31 14:36:14.856 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65458 fPos=2.316 fActPosition=2.31 time=0.000099 -2022/01/31 14:36:14.856 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=53 fPos=0.136 fActPosition=0.15 time=0.000011 -2022/01/31 14:36:15.056 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65495 fPos=1.208 fActPosition=1.2 time=0.000014 -2022/01/31 14:36:15.057 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=49 fPos=0.036 fActPosition=0.03 time=0.000008 -2022/01/31 14:36:15.257 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65521 fPos=0.448 fActPosition=0.42 time=0.000010 -2022/01/31 14:36:15.257 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=48 fPos=0.008 fActPosition=0 time=0.000006 -2022/01/31 14:36:15.457 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65534 fPos=0.056 fActPosition=0.03 time=0.000010 -2022/01/31 14:36:15.457 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007 -2022/01/31 14:36:15.658 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011 -2022/01/31 14:36:15.658 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007 -2022/01/31 14:36:15.858 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000104 -2022/01/31 14:36:15.858 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009 -2022/01/31 14:36:16.058 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000019 -2022/01/31 14:36:16.058 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011 -48 -DIFF 5389 -DIFF 6518 -DIFF 7556 -DIFF 7982 -DIFF 8130 -DIFF 7333 -DIFF 8574 -DIFF 12148 -DIFF 10592 -DIFF 7055 -DIFF 19314 -DIFF 8777 -DIFF 8648 -DIFF 6093 -DIFF 5130 -DIFF 6870 -DIFF 10518 -DIFF 13703 -DIFF 8352 -DIFF 13000 -DIFF 14852 -DIFF 7648 -DIFF 15889 -DIFF 6371 -DIFF 13648 -DIFF 8796 -DIFF 6463 -DIFF 5463 -DIFF 6425 -DIFF 5204 -DIFF 5277 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5351 -DIFF 5388 -DIFF 5278 -DIFF 5185 -DIFF 5296 -DIFF 6111 -DIFF 6185 -DIFF 8537 -DIFF 8148 -DIFF 5241 -DIFF 6537 -DIFF 5982 -DIFF 5334 -DIFF 6222 -DIFF 5593 -DIFF 8536 -DIFF 5815 -DIFF 5167 -DIFF 5148 -DIFF 5149 -DIFF 5093 -DIFF 5222 -DIFF 5926 -DIFF 10463 -DIFF 6574 -DIFF 7351 -DIFF 6240 -DIFF 5148 -DIFF 5092 -DIFF 5203 -DIFF 5167 -DIFF 5315 -DIFF 5130 -DIFF 5130 -DIFF 5778 -DIFF 6111 -DIFF 6056 -DIFF 5130 -DIFF 5148 -DIFF 5111 -DIFF 5408 -DIFF 5129 -DIFF 5204 -DIFF 5167 -DIFF 5203 -DIFF 5185 -DIFF 5629 -DIFF 5333 -DIFF 7925 -DIFF 5297 -DIFF 5185 -DIFF 5296 -DIFF 5352 -DIFF 5315 -DIFF 5240 -DIFF 8167 -DIFF 5296 -DIFF 5593 -DIFF 5018 -DIFF 7000 -DIFF 7278 -DIFF 9185 -DIFF 12667 -DIFF 7370 -DIFF 5185 -DIFF 9111 -DIFF 11611 -DIFF 9222 -DIFF 8074 -DIFF 7722 -DIFF 5222 -DIFF 5204 -DIFF 5704 -DIFF 5685 -DIFF 5203 -DIFF 7685 -DIFF 5482 -DIFF 5259 -DIFF 5167 -DIFF 5259 -DIFF 5130 -DIFF 5296 -DIFF 5648 -DIFF 5129 -DIFF 5166 -DIFF 6796 -DIFF 5333 -DIFF 5333 -DIFF 5889 -DIFF 5241 -DIFF 5259 -DIFF 5315 -DIFF 8499 -DIFF 6741 -DIFF 9685 -DIFF 10704 -DIFF 8148 -DIFF 14537 -DIFF 6797 -DIFF 5185 -DIFF 5333 -DIFF 5148 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5796 -DIFF 5519 -DIFF 5111 -DIFF 8222 -DIFF 9519 -DIFF 6296 -DIFF 5278 -DIFF 5333 -DIFF 5166 -DIFF 5389 -DIFF 5629 -DIFF 5278 -DIFF 12666 -DIFF 9926 -DIFF 5463 -DIFF 5408 -DIFF 5352 -DIFF 5370 -DIFF 5037 -DIFF 5278 -DIFF 5518 -DIFF 5093 -DIFF 5870 -DIFF 5167 -DIFF 5185 -DIFF 5018 -DIFF 5222 -DIFF 5241 -DIFF 5092 -DIFF 5333 -DIFF 5074 -DIFF 5334 -DIFF 6426 -DIFF 5814 -DIFF 5111 -DIFF 5148 -DIFF 5037 -DIFF 5241 -DIFF 5333 -DIFF 5297 -DIFF 5204 -DIFF 8130 -DIFF 5815 -DIFF 5129 -DIFF 5556 -DIFF 5777 -DIFF 10667 -DIFF 6648 -DIFF 5093 -DIFF 5259 -DIFF 6888 -DIFF 5815 -DIFF 5093 -DIFF 5537 -DIFF 5055 -DIFF 5037 -DIFF 5222 -DIFF 5129 -DIFF 12148 -DIFF 6704 -DIFF 6204 -DIFF 9426 -DIFF 6685 -DIFF 7111 -DIFF 5222 -DIFF 8296 -DIFF 8926 -DIFF 6778 -DIFF 7259 -DIFF 7981 -DIFF 8037 -DIFF 6130 -DIFF 6833 -DIFF 6185 -DIFF 5834 -DIFF 5463 -DIFF 5463 -DIFF 10963 -DIFF 10667 -DIFF 9611 -DIFF 7666 -DIFF 5981 -DIFF 5722 -DIFF 5074 -DIFF 7611 -DIFF 7666 -DIFF 5462 -DIFF 7426 -DIFF 5815 -DIFF 7537 -DIFF 6871 -DIFF 5926 -DIFF 6426 -DIFF 7370 -DIFF 7111 -DIFF 5148 -DIFF 7963 -DIFF 5148 -DIFF 6648 -DIFF 5389 -DIFF 6148 -DIFF 5167 -DIFF 6630 -DIFF 5351 -DIFF 5018 -DIFF 5907 -DIFF 5074 -DIFF 6074 -DIFF 5981 -DIFF 5426 -DIFF 7222 -DIFF 5574 -DIFF 6482 -DIFF 5074 -DIFF 5648 -DIFF 5129 -DIFF 8425 -DIFF 6740 -DIFF 7296 -DIFF 5982 -DIFF 6000 -DIFF 5704 -DIFF 6777 -DIFF 6778 -DIFF 6722 -DIFF 8852 -DIFF 8463 -DIFF 6555 -DIFF 5166 -DIFF 5148 -DIFF 5852 -DIFF 5944 -DIFF 9778 -DIFF 13944 -DIFF 6629 -DIFF 9185 -DIFF 7241 -DIFF 9370 -DIFF 7556 -DIFF 10629 -DIFF 5611 -DIFF 5297 -DIFF 7148 -DIFF 6130 -DIFF 5444 -DIFF 5444 -DIFF 6703 -DIFF 6296 -DIFF 5871 -DIFF 12741 -DIFF 5407 -DIFF 5667 -DIFF 5111 -DIFF 5259 -DIFF 6259 -DIFF 7259 -DIFF 6259 -DIFF 6685 -DIFF 5204 -DIFF 5889 -DIFF 16352 -DIFF 5407 -DIFF 6352 -GRBL busy: 1.00000 -../grbl/grbl_stepper.c:st_go_idle:259: -DIFF 11000 -DIFF 6093 -DIFF 6092 -DIFF 6259 -DIFF 6797 -DIFF 6759 -DIFF 6426 -DIFF 5092 -DIFF 5870 -DIFF 5277 -DIFF 6111 -DIFF 5278 -DIFF 6130 -DIFF 6222 -DIFF 6519 -DIFF 5388 -DIFF 5333 -DIFF 5296 -DIFF 6518 -DIFF 5426 -DIFF 6444 -DIFF 12611 -DIFF 9222 -DIFF 5333 -DIFF 8259 -DIFF 7815 -DIFF 14574 -DIFF 5222 -DIFF 5241 -DIFF 7426 -DIFF 5907 -DIFF 5389 -DIFF 7518 -DIFF 8315 -DIFF 7241 -DIFF 9074 -DIFF 5425 -DIFF 5408 -DIFF 7704 -DIFF 10389 -DIFF 5908 -DIFF 5149 -DIFF 5648 -DIFF 5592 -DIFF 5111 -DIFF 5278 -DIFF 5019 -DIFF 5259 -DIFF 5333 -DIFF 6407 -DIFF 5037 -DIFF 5148 -DIFF 5481 -DIFF 5296 -DIFF 7629 -DIFF 5130 -DIFF 5667 -DIFF 8871 -DIFF 10574 -DIFF 7056 -DIFF 5463 -DIFF 5074 -DIFF 5593 -DIFF 5166 -DIFF 5982 -DIFF 5019 -DIFF 5462 -DIFF 5222 -DIFF 5166 -DIFF 5648 -DIFF 5056 -DIFF 5296 -DIFF 5019 -DIFF 6500 -DIFF 5759 -DIFF 5018 -DIFF 5241 -DIFF 5611 -DIFF 5426 -DIFF 5315 -DIFF 6908 -DIFF 8759 -DIFF 10110 -DIFF 5629 -DIFF 6296 -DIFF 7778 -DIFF 10556 -DIFF 5055 -DIFF 6241 -DIFF 5982 -DIFF 5389 -DIFF 5500 -DIFF 7037 -DIFF 8148 -DIFF 772022/01/31 14:36:16.259 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000013 -2022/01/31 14:36:16.259 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000008 -2022/01/31 14:36:16.459 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000184 -2022/01/31 14:36:16.459 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011 -2022/01/31 14:36:16.659 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000016 -2022/01/31 14:36:16.659 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009 -2022/01/31 14:36:16.860 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000017 -2022/01/31 14:36:16.860 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009 -2022/01/31 14:36:17.060 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000161 -2022/01/31 14:36:17.060 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000010 -2022/01/31 14:36:17.260 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000017 -2022/01/31 14:36:17.260 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009 -2022/01/31 14:36:17.461 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000018 -2022/01/31 14:36:17.461 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011 -22 -DIFF 9926 -DIFF 10796 -DIFF 5574 -DIFF 6315 -DIFF 10907 -DIFF 9129 -DIFF 5945 -DIFF 6000 -DIFF 8889 -DIFF 8962 -DIFF 6630 -DIFF 9611 -DIFF 23555 -DIFF 11778 -DIFF 8982 -DIFF 10259 -DIFF 8277 -DIFF 11426 -DIFF 19111 -DIFF 10593 -DIFF 17166 -DIFF 19685 -DIFF 18204 -DIFF 11611 -DIFF 10796 -DIFF 5852 -DIFF 6444 -DIFF 7667 -DIFF 5315 -DIFF 5185 -DIFF 5814 -DIFF 5389 -DIFF 5092 -DIFF 5518 -DIFF 6722 -DIFF 5426 -DIFF 5944 -DIFF 5241 -DIFF 5352 -DIFF 5444 -DIFF 5166 -DIFF 5462 -DIFF 5852 -DIFF 5259 -DIFF 5556 -DIFF 5537 -DIFF 8889 -DIFF 7055 -DIFF 6981 -DIFF 6481 -DIFF 7370 -DIFF 6426 -DIFF 5055 -DIFF 10222 -DIFF 5037 -DIFF 6630 -DIFF 5407 -DIFF 6889 -DIFF 6389 -DIFF 6148 -DIFF 8092 -DIFF 5074 -DIFF 5111 -DIFF 5204 -DIFF 5574 -DIFF 5241 -DIFF 5019 -DIFF 5407 -DIFF 6740 -DIFF 5407 -DIFF 6000 -DIFF 5074 -DIFF 5537 -DIFF 5222 -DIFF 5352 -DIFF 5333 -DIFF 5277 -DIFF 5148 -DIFF 5760 -DIFF 5871 -DIFF 5426 -DIFF 6574 -DIFF 5388 -DIFF 6000 -DIFF 6129 -DIFF 6796 -DIFF 6982 -DIFF 12426 -DIFF 8000 -DIFF 7426 -DIFF 22240 -DIFF 14518 -DIFF 5944 -DIFF 5056 -DIFF 5462 -DIFF 5092 -DIFF 5148 -DIFF 9240 -DIFF 7945 -DIFF 9203 -DIFF 6055 -DIFF 7778 -DIFF 6999 -DIFF 5351 -DIFF 5130 -DIFF 7408 -DIFF 5185 -DIFF 6148 -DIFF 6666 -DIFF 5278 -DIFF 6796 -GRBL busy: 1.00000 -DIFF 5407 -DIFF 5389 -DIFF 5463 -DIFF 5426 -DIFF 6592 -DIFF 5352 -DIFF 5167 -DIFF 5426 -DIFF 5277 -DIFF 5037 -DIFF 5685 -DIFF 5037 -DIFF 5407 -DIFF 5018 -DIFF 5352 -DIFF 6092 -DIFF 7889 -DIFF 5074 -DIFF 5518 -DIFF 7018 -DIFF 8296 -DIFF 10463 -DIFF 8462 -DIFF 5259 -DIFF 9796 -DIFF 14463 -DIFF 5777 -DIFF 5055 -DIFF 5574 -DIFF 5630 -DIFF 7593 -DIFF 5888 -DIFF 9167 -DIFF 7592 -DIFF 6093 -DIFF 6074 -DIFF 7018 -DIFF 5018 -DIFF 5352 -DIFF 7148 -DIFF 6092 -DIFF 5296 -DIFF 5519 -DIFF 5556 -DIFF 6666 -DIFF 6241 -DIFF 5074 -DIFF 5166 -DIFF 5056 -DIFF 5240 -DIFF 5500 -DIFF 6889 -DIFF 5408 -DIFF 5611 -DIFF 5370 -DIFF 6667 -DIFF 5481 -DIFF 5611 -DIFF 6037 -DIFF 5666 -DIFF 5759 -DIFF 5037 -DIFF 5648 -DIFF 5740 -DIFF 6000 -DIFF 6185 -DIFF 5815 -DIFF 8685 -DIFF 10722 -DIFF 8870 -DIFF 5463 -DIFF 8407 -DIFF 7870 -DIFF 9778 -DIFF 5814 -DIFF 5056 -DIFF 5111 -DIFF 5740 -DIFF 8185 -DIFF 6444 -DIFF 8259 -DIFF 6055 -DIFF 6056 -DIFF 11518 -DIFF 5833 -DIFF 5907 -DIFF 5037 -DIFF 5796 -DIFF 9223 -DIFF 5537 -DIFF 7055 -DIFF 5204 -DIFF 5130 -DIFF 5703 -DIFF 5315 -DIFF 5426 -DIFF 5111 -DIFF 5426 -DIFF 6389 -DIFF 5166 -DIFF 5371 -DIFF 5074 -DIFF 5333 -DIFF 5667 -DIFF 5037 -DIFF 5148 -DIFF 5759 -DIFF 5778 -DIFF 5759 -DIFF 6166 -DIFF 5389 -DIFF 5333 -DIFF 5278 -DIFF 5482 -DIFF 6222 -DIFF 5222 -DIFF 5352 -DIFF 8685 -DIFF 6611 -DIFF 11685 -DIFF 6778 -DIFF 8092 -DIFF 6500 -DIFF 6907 -DIFF 7148 -DIFF 14740 -DIFF 6907 -DIFF 6352 -DIFF 5926 -DIFF 5296 -DIFF 6926 -DIFF 5297 -DIFF 11796 -DIFF 5666 -DIFF 15908 -DIFF 8611 -DIFF 6278 -DIFF 5519 -DIFF 6481 -DIFF 6592 -DIFF 5074 -DIFF 5759 -DIFF 5018 -DIFF 5704 -DIFF 5148 -DIFF 5222 -DIFF 5370 -DIFF 5741 -DIFF 5389 -DIFF 5056 -DIFF 5130 -DIFF 5148 -DIFF 5463 -DIFF 5241 -DIFF 6611 -DIFF 5055 -DIFF 5240 -DIFF 5759 -DIFF 5222 -DIFF 5314 -DIFF 5945 -DIFF 5185 -DIFF 6593 -DIFF 6259 -DIFF 5074 -DIFF 7148 -DIFF 6260 -DIFF 9074 -DIFF 7481 -DIFF 8833 -DIFF 6870 -DIFF 5481 -DIFF 7629 -DIFF 10036 -DIFF 8222 -DIFF 6259 -DIFF 6018 -DIFF 5074 -DIFF 5703 -DIFF 5555 -DIFF 7259 -DIFF 6167 -DIFF 10963 -DIFF 5703 -DIFF 6352 -DIFF 5611 -DIFF 12963 -DIFF 7667 -DIFF 5981 -DIFF 5519 -DIFF 5685 -DIFF 5722 -DIFF 5426 -DIFF 5389 -DIFF 5833 -DIFF 5019 -DIFF 5277 -DIFF 5222 -DIFF 5537 -DIFF 6148 -DIFF 5574 -DIFF 5037 -DIFF 5407 -DIFF 5648 -DIFF 5352 -DIFF 6759 -DIFF 5074 -DIFF 5426 -DIFF 5018 -DIFF 5056 -DIFF 5574 -DIFF 5259 -DIFF 6648 -DIFF 5055 -DIFF 7648 -DIFF 7555 -DIFF 5037 -DIFF 6482 -DIFF 5685 -DIFF 5962 -DIFF 10574 -DIFF 8740 -DIFF 7203 -DIFF 10648 -DIFF 7555 -DIFF 9000 -DIFF 8018 -DIFF 13629 -DIFF 6370 -DIFF 7445 -DIFF 5185 -DIFF 6204 -DIFF 5148 -DIFF 5630 -DIFF 5093 -DIFF 6371 -DIFF 8370 -DIFF 5537 -DIFF 5611 -DIFF 5889 -DIFF 14352 -DIFF 6777 -DIFF 9537 -DIFF 5760 -DIFF 5093 -DIFF 6352 -DIFF 6259 -DIFF 5148 -DIFF 5296 -DIFF 5556 -DIFF 5611 -GRBL busy: 1.00000 -DIFF 5352 -DIFF 5074 -DIFF 5611 -GRBL: INFO: Reply OK (command[3] = G4P2) -GRBL: INFO: Write command (command[4] = G0X10Y10) -Added: G0X10Y10../grbl/grbl_gcode.c:gc_execute_line:71: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -GRBL: INFO: Reply OK (command[4] = G0X10Y10) -GRBL: INFO: Write command (command[5] = G2X10Y-10R10) -Added: G2X10Y-10R10../grbl/grbl_s2022/01/31 14:36:17.661 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65534 fPos=0.056 fActPosition=0.03 time=0.000114 -2022/01/31 14:36:17.661 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=49 fPos=0.056 fActPosition=0.03 time=0.000009 -2022/01/31 14:36:17.861 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65520 fPos=0.448 fActPosition=0.45 time=0.000011 -2022/01/31 14:36:17.862 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63 fPos=0.448 fActPosition=0.45 time=0.000006 -2022/01/31 14:36:18.062 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65494 fPos=1.216 fActPosition=1.23 time=0.000013 -2022/01/31 14:36:18.062 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=89 fPos=1.22 fActPosition=1.23 time=0.000009 -2022/01/31 14:36:18.262 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65457 fPos=2.344 fActPosition=2.34 time=0.000011 -2022/01/31 14:36:18.262 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=127 fPos=2.344 fActPosition=2.37 time=0.000006 -2022/01/31 14:36:18.462 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65407 fPos=3.836 fActPosition=3.84 time=0.000011 -2022/01/31 14:36:18.463 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=176 fPos=3.836 fActPosition=3.84 time=0.000007 -2022/01/31 14:36:18.663 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65350 fPos=5.512 fActPosition=5.55 time=0.000160 -2022/01/31 14:36:18.663 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=232 fPos=5.512 fActPosition=5.52 time=0.000007 -2022/01/31 14:36:18.863 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65297 fPos=7.128 fActPosition=7.14 time=0.000010 -2022/01/31 14:36:18.863 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=286 fPos=7.128 fActPosition=7.14 time=0.000006 -2022/01/31 14:36:19.064 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65254 fPos=8.404 fActPosition=8.43 time=0.000011 -2022/01/31 14:36:19.064 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=329 fPos=8.408 fActPosition=8.43 time=0.000201 -2022/01/31 14:36:19.264 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65224 fPos=9.32 fActPosition=9.33 time=0.000011 -2022/01/31 14:36:19.264 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=359 fPos=9.32 fActPosition=9.33 time=0.000007 -2022/01/31 14:36:19.465 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65206 fPos=9.86 fActPosition=9.87 time=0.000011 -2022/01/31 14:36:19.465 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=377 fPos=9.86 fActPosition=9.87 time=0.000006 -2022/01/31 14:36:19.665 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65197 fPos=10.148 fActPosition=10.14 time=0.000011 -2022/01/31 14:36:19.665 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=382 fPos=9.996 fActPosition=10.02 time=0.000006 -2022/01/31 14:36:19.865 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65177 fPos=10.732 fActPosition=10.74 time=0.000011 -2022/01/31 14:36:19.865 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=381 fPos=9.972 fActPosition=9.99 time=0.000006 -2022/01/31 14:36:20.066 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65146 fPos=11.684 fActPosition=11.67 time=0.000010 -2022/01/31 14:36:20.066 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=377 fPos=9.856 fActPosition=9.87 time=0.000006 -2022/01/31 14:36:20.266 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65108 fPos=12.788 fActPosition=12.81 time=0.000010 -2022/01/31 14:36:20.266 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=368 fPos=9.604 fActPosition=9.6 time=0.000006 -2022/01/31 14:36:20.466 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65071 fPos=13.904 fActPosition=13.92 time=0.000010 -2022/01/31 14:36:20.466 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=355 fPos=9.208 fActPosition=9.21 time=0.000007 -tepper.c:st_wake_up:228: -DIFF 5148 -../grbl/grbl_gcode.c:gc_execute_line:71: -../grbl/grbl_motion_control.c:mc_arc:91: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6833 -DIFF 7296 -DIFF 5278 -DIFF 5907 -DIFF 5185 -DIFF 6518 -DIFF 10334 -DIFF 8777 -DIFF 8037 -DIFF 9259 -DIFF 7315 -DIFF 7704 -DIFF 10611 -DIFF 5296 -DIFF 5352 -DIFF 7185 -DIFF 5426 -DIFF 6982 -DIFF 6185 -DIFF 5481 -DIFF 5741 -DIFF 7315 -DIFF 6889 -DIFF 5852 -DIFF 8037 -DIFF 6296 -DIFF 5278 -DIFF 7704 -DIFF 6037 -DIFF 5056 -DIFF 5315 -DIFF 8167 -DIFF 6351 -DIFF 7222 -DIFF 15611 -DIFF 10425 -DIFF 5204 -DIFF 5185 -DIFF 5704 -DIFF 10018 -DIFF 6297 -DIFF 5833 -DIFF 5648 -DIFF 5111 -DIFF 6166 -DIFF 6037 -DIFF 6537 -DIFF 6204 -DIFF 5296 -DIFF 5389 -DIFF 5537 -DIFF 6240 -DIFF 5611 -DIFF 5278 -DIFF 6148 -DIFF 6870 -DIFF 5870 -DIFF 7926 -DIFF 7425 -DIFF 18185 -DIFF 5129 -DIFF 6871 -DIFF 7314 -DIFF 5148 -DIFF 6296 -DIFF 5074 -DIFF 7833 -DIFF 6260 -DIFF 5129 -DIFF 6963 -DIFF 7037 -DIFF 5629 -DIFF 7537 -DIFF 8148 -DIFF 13333 -DIFF 5093 -DIFF 6111 -DIFF 7166 -DIFF 7056 -DIFF 6592 -DIFF 7166 -DIFF 5204 -DIFF 5630 -DIFF 7185 -DIFF 6519 -DIFF 6870 -DIFF 6388 -DIFF 8481 -DIFF 5389 -DIFF 7777 -DIFF 6389 -DIFF 6278 -GRBL busy: 1.00000 -DIFF 6370 -DIFF 6666 -DIFF 5333 -DIFF 5944 -DIFF 6185 -DIFF 6759 -DIFF 7167 -DIFF 5334 -DIFF 7037 -DIFF 6333 -DIFF 6370 -DIFF 5500 -DIFF 5186 -DIFF 6148 -DIFF 5482 -DIFF 5982 -DIFF 5666 -DIFF 7537 -DIFF 6499 -DIFF 11519 -DIFF 7148 -DIFF 6222 -DIFF 5314 -DIFF 5167 -DIFF 5536 -DIFF 5833 -DIFF 5315 -DIFF 5722 -DIFF 7352 -DIFF 6018 -DIFF 8759 -DIFF 5500 -DIFF 6537 -DIFF 7093 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5074 -DIFF 6204 -DIFF 6926 -DIFF 6611 -DIFF 6648 -DIFF 6888 -DIFF 5277 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5537 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5278 -DIFF 5537 -DIFF 6260 -DIFF 13408 -DIFF 8019 -DIFF 5204 -DIFF 7537 -GRBL busy: 1.00000 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5111 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5370 -DIFF 6074 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7444 -DIFF 5111 -DIFF 7037 -DIFF 5314 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5981 -DIFF 5666 -DIFF 5815 -DIFF 5296 -DIFF 6093 -DIFF 7518 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 7167 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5537 -DIFF 5463 -DIFF 7611 -DIFF 5704 -DIFF 7111 -DIFF 5074 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5019 -DIFF 5241 -DIFF 6056 -DIFF 7352 -DIFF 12759 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5963 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5315 -DIFF 5222 -DIFF 5481 -DIFF 8240 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5056 -DIFF 5167 -DIFF 5297 -DIFF 5371 -DIFF 7388 -DIFF 14555 -DIFF 5907 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 7167 -DIFF 6296 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5167 -DIFF 5926 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5074 -DIFF 5203 -DIFF 5944 -DIFF 6722 -DIFF 6778 -DIFF 10426 -../gr2022/01/31 14:36:20.667 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65037 fPos=14.928 fActPosition=14.94 time=0.000011 -2022/01/31 14:36:20.667 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=338 fPos=8.7 fActPosition=8.7 time=0.000007 -2022/01/31 14:36:20.867 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65005 fPos=15.896 fActPosition=15.9 time=0.000012 -2022/01/31 14:36:20.867 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=317 fPos=8.076 fActPosition=8.07 time=0.000006 -2022/01/31 14:36:21.067 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64975 fPos=16.78 fActPosition=16.8 time=0.000010 -2022/01/31 14:36:21.067 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=293 fPos=7.348 fActPosition=7.35 time=0.000006 -2022/01/31 14:36:21.268 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64949 fPos=17.588 fActPosition=17.58 time=0.000011 -2022/01/31 14:36:21.268 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=265 fPos=6.508 fActPosition=6.51 time=0.000117 -2022/01/31 14:36:21.468 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64926 fPos=18.284 fActPosition=18.27 time=0.000011 -2022/01/31 14:36:21.468 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=234 fPos=5.596 fActPosition=5.58 time=0.000006 -2022/01/31 14:36:21.668 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64906 fPos=18.876 fActPosition=18.87 time=0.000010 -2022/01/31 14:36:21.669 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=202 fPos=4.612 fActPosition=4.62 time=0.000006 -2022/01/31 14:36:21.869 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64890 fPos=19.348 fActPosition=19.35 time=0.000011 -2022/01/31 14:36:21.869 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=167 fPos=3.556 fActPosition=3.57 time=0.000006 -2022/01/31 14:36:22.069 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.696 fActPosition=19.68 time=0.000011 -2022/01/31 14:36:22.069 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=130 fPos=2.444 fActPosition=2.46 time=0.000006 -2022/01/31 14:36:22.269 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64871 fPos=19.908 fActPosition=19.92 time=0.000011 -2022/01/31 14:36:22.270 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=92 fPos=1.344 fActPosition=1.32 time=0.000006 -2022/01/31 14:36:22.470 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=19.996 fActPosition=20.01 time=0.000010 -2022/01/31 14:36:22.470 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=53 fPos=0.172 fActPosition=0.15 time=0.000007 -bl/grbl_motion_control.c:mc_line:33: -DIFF 6574 -DIFF 7260 -DIFF 10482 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6203 -DIFF 5833 -DIFF 5092 -DIFF 6148 -DIFF 7314 -DIFF 5778 -DIFF 6370 -DIFF 10741 -DIFF 5926 -DIFF 11000 -DIFF 10666 -DIFF 5185 -GRBL busy: 1.00000 -DIFF 5333 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5093 -DIFF 7148 -DIFF 6852 -DIFF 5092 -DIFF 7870 -DIFF 10259 -DIFF 5611 -DIFF 7833 -DIFF 11889 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6834 -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5648 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5982 -DIFF 7630 -DIFF 6686 -DIFF 5037 -DIFF 5537 -DIFF 6555 -DIFF 5593 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6093 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5037 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 7260 -DIFF 5944 -DIFF 8314 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6148 -DIFF 11000 -DIFF 6888 -DIFF 6074 -DIFF 5426 -DIFF 7648 -DIFF 6759 -DIFF 5223 -DIFF 10333 -DIFF 5908 -DIFF 6741 -DIFF 6019 -DIFF 6074 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5482 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5333 -DIFF 6296 -DIFF 5278 -DIFF 5518 -DIFF 6908 -DIFF 11629 -DIFF 6981 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 7037 -DIFF 6370 -DIFF 10740 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7537 -DIFF 5519 -DIFF 5666 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6963 -DIFF 6648 -DIFF 5741 -DIFF 6240 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6630 -DIFF 5481 -GRBL busy: 1.00000 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5278 -DIFF 6018 -DIFF 5963 -DIFF 6241 -DIFF 6425 -DIFF 8111 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6814 -DIFF 5481 -DIFF 6556 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6278 -DIFF 5962 -DIFF 6574 -DIFF 10185 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5574 -DIFF 6574 -DIFF 7630 -DIFF 14277 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6463 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5593 -DIFF 7000 -DIFF 6556 -DIFF 7148 -DIFF 6314 -DIFF 7481 -DIFF 6982 -DIFF 6129 -DIFF 6296 -DIFF 5204 -DIFF 6036 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6926 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7149 -DIFF 6667 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5371 -DIFF 5759 -DIFF 7037 -DIFF 6018 -DIFF 8036 -DIFF 6611 -DIFF 5666 -DIFF 6518 -DIFF 5018 -DIFF 6241 -DIFF 6425 -DIFF 5315 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6407 -DIFF 5222 -DIFF 6519 -DIFF 7093 -DIFF 5129 -DIFF 5981 -DIFF 5018 -DIFF 8000 -DIFF 6796 -DIFF 5444 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5204 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5130 -DIFF 5222 -DIFF 6111 -DIFF 7722 -DIFF 6166 -DIFF 10222 -DIFF 5852 -DIFF 7426 -DIFF 5704 -DIFF 5167 -DIFF 5333 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_s2022/01/31 14:36:22.670 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.948 fActPosition=19.98 time=0.000011 -2022/01/31 14:36:22.670 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=14 fPos=-1.008 fActPosition=-1.02 time=0.000006 -2022/01/31 14:36:22.870 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64876 fPos=19.768 fActPosition=19.77 time=0.000011 -2022/01/31 14:36:22.871 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65512 fPos=-2.12 fActPosition=-2.13 time=0.000007 -2022/01/31 14:36:23.071 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64886 fPos=19.46 fActPosition=19.47 time=0.000048 -2022/01/31 14:36:23.071 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65475 fPos=-3.236 fActPosition=-3.24 time=0.000006 -2022/01/31 14:36:23.271 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64901 fPos=19.024 fActPosition=19.02 time=0.000011 -2022/01/31 14:36:23.271 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65439 fPos=-4.308 fActPosition=-4.32 time=0.000006 -2022/01/31 14:36:23.472 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64920 fPos=18.472 fActPosition=18.45 time=0.000029 -2022/01/31 14:36:23.472 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65406 fPos=-5.312 fActPosition=-5.31 time=0.000006 -2022/01/31 14:36:23.672 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64942 fPos=17.804 fActPosition=17.79 time=0.000010 -2022/01/31 14:36:23.672 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65374 fPos=-6.256 fActPosition=-6.27 time=0.000006 -2022/01/31 14:36:23.872 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64967 fPos=17.028 fActPosition=17.04 time=0.000010 -2022/01/31 14:36:23.872 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65346 fPos=-7.112 fActPosition=-7.11 time=0.000006 -2022/01/31 14:36:24.073 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64997 fPos=16.16 fActPosition=16.14 time=0.000014 -2022/01/31 14:36:24.073 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65320 fPos=-7.88 fActPosition=-7.89 time=0.000311 -tepper.c:st_next_block_index:652: -GRBL busy: 1.00000 -DIFF 5388 -DIFF 7537 -DIFF 6593 -DIFF 7037 -DIFF 5851 -DIFF 5445 -DIFF 8111 -DIFF 5926 -DIFF 6018 -DIFF 5148 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5833 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 6722 -DIFF 6111 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7796 -DIFF 6870 -DIFF 6388 -DIFF 5408 -DIFF 5278 -DIFF 5722 -DIFF 6111 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6000 -DIFF 6111 -DIFF 6278 -DIFF 6203 -DIFF 11370 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5463 -DIFF 5722 -DIFF 6241 -DIFF 5926 -DIFF 5556 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5592 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6314 -DIFF 5426 -DIFF 5167 -DIFF 7037 -DIFF 5760 -DIFF 5241 -DIFF 7519 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 7981 -DIFF 6908 -DIFF 7796 -DIFF 12037 -DIFF 7815 -DIFF 7889 -DIFF 7722 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6629 -DIFF 6203 -DIFF 5203 -DIFF 5685 -DIFF 13167 -DIFF 5129 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5074 -DIFF 5092 -DIFF 5222 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5185 -DIFF 6000 -DIFF 8056 -DIFF 5834 -DIFF 5241 -DIFF 5537 -DIFF 6167 -DIFF 9555 -DIFF 5185 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7500 -DIFF 6482 -DIFF 7408 -DIFF 6574 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5926 -DIFF 5611 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7481 -DIFF 6315 -DIFF 6037 -DIFF 6648 -../grbl/grbl_motion_control.c:mc_line:33: -DIFF 5445 -DIFF 5852 -DIFF 11556 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5037 -GRBL busy: 1.00000 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6778 -DIFF 5963 -DIFF 5981 -DIFF 5944 -DIFF 5611 -DIFF 7111 -DIFF 5130 -DIFF 6982 -DIFF 5815 -DIFF 5630 -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -GRBL: INFO: Reply OK (command[5] = G2X10Y-10R10) -GRBL: INFO: Write command (command[6] = G4P2) +../grbl/grbl_stepper.c:st_next_block_index:656: +GRBL: INFO: Reply OK (command[4] = G2X0Y0R20) +GRBL: INFO: Write command (command[5] = G4P2) Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71: ../grbl/grbl_motion_control.c:mc_dwell:200: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5907 -DIFF 5481 -DIFF 6241 -DIFF 5519 -DIFF 6000 -DIFF 6019 -DIFF 9556 -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5778 -DIFF 6462 -DIFF 5240 -DIFF 5241 -DIFF 6167 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6611 -DIFF 6982 -DIFF 5926 -DIFF 7610 -DIFF 6611 -DIFF 10740 -DIFF 5111 -DIFF 5334 -DIFF 5019 -DIFF 5111 -DIFF 7333 -DIFF 5259 -DIFF 7426 -DIFF 8056 -DIFF 6389 -DIFF 5945 -DIFF 12685 -DIFF 7241 -DIFF 6407 -DIFF 5537 -DIFF 5685 -DIFF 5667 -DIFF 7796 -DIFF 5463 -DIFF 8611 -DIFF 6074 -DIFF 5111 -DIFF 5111 -DIFF 6352 -DIFF 5074 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5130 -DIFF 8889 -DIFF 8370 -DIFF 6926 -DIFF 6481 -DIFF 5093 -DIFF 5259 -DIFF 9629 -DIFF 7259 -DIFF 7574 -DIFF 8444 -DIFF 5796 -DIFF 8889 -DIFF 7018 -DIFF 8592 -DIFF 6722 -DIFF 10851 -DIFF 10129 -DIFF 6037 -DIFF 11130 -DIFF 6703 -DIFF 14351 -DIFF 13111 -DIFF 5444 -DIFF 5018 -DIFF 6666 -DIFF 5055 -DIFF 5278 -DIFF 6796 -DIFF 8019 -DIFF 5296 -DIFF 8185 -DIFF 5074 -DIFF 8630 -DIFF 6463 -DIFF 5500 -DIFF 5370 -DIFF 8148 -DIFF 6241 -DIFF 6611 -DIFF 5111 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7166 -DIFF 5130 -DIFF 6648 -DIFF 5630 -DIFF 6759 -DIFF 6222 -DIFF 8815 -DIFF 9500 -DIFF 12222 -DIFF 6148 -DIFF 7315 -DIFF 15222 -DIFF 6834 -DIFF 5796 -DIFF 5704 -DIFF 6666 -DIFF 5185 -DIFF 6019 -DIFF 5537 -DIFF 8333 -DIFF 1062022/01/31 14:36:24.273 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65028 fPos=15.212 fActPosition=15.21 time=0.000020 -2022/01/31 14:36:24.274 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65298 fPos=-8.532 fActPosition=-8.55 time=0.000007 -2022/01/31 14:36:24.474 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65062 fPos=14.192 fActPosition=14.19 time=0.000141 -2022/01/31 14:36:24.474 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65280 fPos=-9.08 fActPosition=-9.09 time=0.000006 -2022/01/31 14:36:24.674 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65098 fPos=13.112 fActPosition=13.11 time=0.000010 -2022/01/31 14:36:24.674 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65266 fPos=-9.5 fActPosition=-9.51 time=0.000006 -2022/01/31 14:36:24.874 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65135 fPos=12.004 fActPosition=12 time=0.000009 -2022/01/31 14:36:24.875 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65256 fPos=-9.796 fActPosition=-9.81 time=0.000006 -2022/01/31 14:36:25.075 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65169 fPos=10.988 fActPosition=10.98 time=0.000104 -2022/01/31 14:36:25.075 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65251 fPos=-9.948 fActPosition=-9.96 time=0.000011 -2022/01/31 14:36:25.275 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65192 fPos=10.316 fActPosition=10.29 time=0.000017 -2022/01/31 14:36:25.276 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65250 fPos=-9.992 fActPosition=-9.99 time=0.000227 -2022/01/31 14:36:25.476 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65201 fPos=10.012 fActPosition=10.02 time=0.000016 -2022/01/31 14:36:25.477 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000009 -2022/01/31 14:36:25.677 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000018 -2022/01/31 14:36:25.677 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000062 -85 -DIFF 9130 -DIFF 9092 -DIFF 14555 -DIFF 6740 -DIFF 5871 -DIFF 7167 -DIFF 7907 -DIFF 5259 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5092 -DIFF 5222 -DIFF 6556 -DIFF 6648 -DIFF 5463 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 7074 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 6574 -DIFF 6389 -DIFF 14111 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5833 -DIFF 6796 -DIFF 7166 -DIFF 5722 +../grbl/grbl_stepper.c:st_next_block_index:656: +GRBL busy: 1.00000 +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +GRBL busy: 1.00000 +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_stepper.c:st_next_block_index:656: GRBL busy: 1.00000 -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5667 -DIFF 5463 -DIFF 5259 -DIFF 7278 -DIFF 5759 -DIFF 9870 -DIFF 6408 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5851 -DIFF 6055 -DIFF 5518 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5334 -DIFF 5833 -DIFF 6426 -DIFF 6741 -DIFF 6092 -DIFF 5019 -DIFF 5370 -DIFF 8259 -DIFF 5463 -DIFF 8222 -../grbl/grbl_stepper.c:st_next_block_index:652: -DIFF 5703 -DIFF 5241 -DIFF 5167 -DIFF 5241 -DIFF 5185 -DIFF 5371 -DIFF 7314 -DIFF 5926 -DIFF 5111 -DIFF 5315 -DIFF 5111 -DIFF 5037 -DIFF 5148 -DIFF 5093 -DIFF 7778 -DIFF 6019 -DIFF 5056 -DIFF 5129 -DIFF 5704 -DIFF 5055 -DIFF 5223 -DIFF 5259 -DIFF 5148 -DIFF 6352 -DIFF 5685 -DIFF 5222 -DIFF 5426 -DIFF 5092 -DIFF 5093 -DIFF 5111 -DIFF 5167 -DIFF 5222 -DIFF 6111 -DIFF 5722 -DIFF 5111 -DIFF 5407 -DIFF 5111 -DIFF 5018 -DIFF 5037 -DIFF 6555 -DIFF 5648 -DIFF 5055 -DIFF 5296 -DIFF 5185 -DIFF 5204 -DIFF 5241 -DIFF 6167 -DIFF 5500 -DIFF 6463 -DIFF 5037 -DIFF 5130 -DIFF 5055 -DIFF 5611 -DIFF 5203 -DIFF 7648 -DIFF 6093 -DIFF 5185 -DIFF 5037 -DIFF 5019 -DIFF 5166 -DIFF 5074 -DIFF 6240 -DIFF 5370 -DIFF 5481 -DIFF 5130 -DIFF 5037 -DIFF 5241 -DIFF 5130 -DIFF 6148 -DIFF 5777 -DIFF 5444 -DIFF 5019 -DIFF 5055 -DIFF 6333 -DIFF 5722 -DIFF 5167 -DIFF 5741 -DIFF 5092 -DIFF 6148 -DIFF 5722 -DIFF 8926 -DIFF 6278 -DIFF 6389 -DIFF 5074 -DIFF 5148 -DIFF 5186 -DIFF 6518 -DIFF 5167 -DIFF 7926 -DIFF 7426 -DIFF 8926 -DIFF 6407 -DIFF 9629 -DIFF 7518 -DIFF 8833 -DIFF 10740 -DIFF 8426 -DIFF 5297 -DIFF 5185 -DIFF 6278 -DIFF 10555 -DIFF 10167 -DIFF 12074 -DIFF 5722 -DIFF 6629 -DIFF 8926 -DIFF 5778 -DIFF 5055 -DIFF 5055 -DIFF 5037 -DIFF 5425 -DIFF 6630 -DIFF 5148 -DIFF 5129 -DIFF 5130 -DIFF 7463 -DIFF 6814 -DIFF 6167 -DIFF 7166 -DIFF 9907 -DIFF 10351 -DIFF 7741 -DIFF 5852 -DIFF 5870 -DIFF 5223 -DIFF 7408 -DIFF 7333 -DIFF 9371 -DIFF 9519 -DIFF 8315 -DIFF 5056 -DIFF 5426 -DIFF 5333 -DIFF 5519 -DIFF 5093 -DIFF 8537 -DIFF 5907 -DIFF 5796 -DIFF 6888 -DIFF 5462 -DIFF 5352 -DIFF 5018 -DIFF 5351 -DIFF 6204 -DIFF 5592 -DIFF 5037 -DIFF 5018 -DIFF 8019 -DIFF 7592 -DIFF 5370 -DIFF 6037 -DIFF 5149 -DIFF 5426 -DIFF 5519 -DIFF 8444 -DIFF 7796 -DIFF 10611 -DIFF 6130 -DIFF 5185 -DIFF 8074 -DIFF 5167 -DIFF 9222 -DIFF 10111 -DIFF 6574 -DIFF 5407 -DIFF 6000 -DIFF 5389 -DIFF 5593 -DIFF 8851 -DIFF 5111 -DIFF 5278 -DIFF 5723 -DIFF 5481 -DIFF 5259 -DIFF 8981 -DIFF 6630 -DIFF 7592 -DIFF 7555 -DIFF 7908 -DIFF 9056 -DIFF 9333 -DIFF 8074 -DIFF 10389 -DIFF 9389 -DIFF 12592 -DIFF 5204 -DIFF 5407 -DIFF 5334 -DIFF 6759 -DIFF 8889 -DIFF 5314 -DIFF 5574 -DIFF 7722 -DIFF 6148 -DIFF 7333 -DIFF 5777 -DIFF 6925 -DIFF 6370 -DIFF 5278 -DIFF 7425 -DIFF 8185 -DIFF 6240 -DIFF 8481 -DIFF 5685 -DIFF 7630 -DIFF 10240 -DIFF 6371 -DIFF 6111 -DIFF 5296 -DIFF 5426 -DIFF 7426 -DIFF 6833 -DIFF 9204 -DIFF 8851 -DIFF 6370 -DIFF 6315 -DIFF 6759 -DIFF 5889 -DIFF 5388 -DIFF 6111 -DIFF 6778 -DIFF 8592 -DIFF 9000 -DIFF 5222 -DIFF 11018 -DIFF 5259 -DIFF 5278 -DIFF 5741 -DIFF 5426 -DIFF 10018 -DIFF 5129 -DIFF 5593 -DIFF 6130 -DIFF 5166 -DIFF 5463 -DIFF 5148 -DIFF 5389 -DIFF 7278 -DIFF 6814 -DIFF 5629 -DIFF 7074 -DIFF 5111 -DIFF 7556 -DIFF 8666 -DIFF 8537 -DIFF 10630 -DIFF 6740 -DIFF 9963 -DIFF 9704 -DIFF 12500 -DIFF 5037 -DIFF 7518 -DIFF 7204 -DIFF 6389 ../grbl/grbl_stepper.c:st_go_idle:259: -DIFF 16814 -DIFF 5074 -DIFF 10241 -DIFF 10093 -DIFF 5463 -DIFF 8352 -DIFF 5537 -DIFF 5203 -DIFF 5704 -DIFF 5111 -DIFF 5704 -DIFF 8518 -DIFF 7278 GRBL busy: 1.00000 -DIFF 5667 -DIFF 5629 -DIFF 8093 -DIFF 5888 -DIFF 5056 -DIFF 5500 -DIFF 5852 -DIFF 5814 -DIFF 5704 -DIFF 5999 -DIFF 8018 -DIFF 10185 -DIFF 8444 -DIFF 5074 -DIFF 8871 -DIFF 8629 -DIFF 12889 -DIFF 8685 -DIFF 5370 -DIFF 7148 -DIFF 5037 -DIFF 7962 -DIFF 9148 -DIFF 10500 -DIFF 8185 -DIFF 5130 -DIFF 5444 -DIFF 6833 -DIFF 5741 -DIFF 10648 -DIFF 8592 -DIFF 6907 -DIFF 5203 -DIFF 5407 -DIFF 5018 -DIFF 6241 -DIFF 5185 -DIFF 5445 -DIFF 5259 -DIFF 5481 -DIFF 5185 -DIFF 5055 -DIFF 5611 -DIFF 5111 -DIFF 5278 -DIFF 5111 -DIFF 5555 -DIFF 512022/01/31 14:36:25.877 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000018 -2022/01/31 14:36:25.877 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011 -2022/01/31 14:36:26.077 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000019 -2022/01/31 14:36:26.078 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65249 fPos=-10 fActPosition=-10.02 time=0.000012 -2022/01/31 14:36:26.278 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000017 -2022/01/31 14:36:26.278 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011 -2022/01/31 14:36:26.478 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000017 -2022/01/31 14:36:26.479 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011 -2022/01/31 14:36:26.679 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000127 -2022/01/31 14:36:26.679 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65249 fPos=-10 fActPosition=-10.02 time=0.000010 -2022/01/31 14:36:26.879 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000015 -2022/01/31 14:36:26.879 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011 -2022/01/31 14:36:27.080 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000133 -2022/01/31 14:36:27.080 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000010 -85 -DIFF 5667 -DIFF 6148 -DIFF 5481 -DIFF 7500 -DIFF 8852 -DIFF 8019 -DIFF 7426 -DIFF 10981 -DIFF 7593 -DIFF 12500 -DIFF 5611 -DIFF 6592 -DIFF 5037 -DIFF 5555 -DIFF 5741 -DIFF 7963 -DIFF 7833 -DIFF 5944 -DIFF 10463 -DIFF 7297 -DIFF 6722 -DIFF 5333 -DIFF 6648 -DIFF 5166 -DIFF 5426 -DIFF 5240 -DIFF 7555 -DIFF 6370 -DIFF 5685 -DIFF 6240 -DIFF 6352 -DIFF 7111 -DIFF 9204 -DIFF 7092 -DIFF 8611 -DIFF 9055 -DIFF 6315 -DIFF 7166 -DIFF 7074 -DIFF 5185 -DIFF 5889 -DIFF 8445 -DIFF 8500 -DIFF 8260 -DIFF 8778 -DIFF 7167 -DIFF 11944 -DIFF 6815 -DIFF 6018 -DIFF 6018 -DIFF 5944 -DIFF 5593 -DIFF 5259 -DIFF 9148 -DIFF 9722 -DIFF 10630 -DIFF 9685 -DIFF 8777 -DIFF 5056 -DIFF 5445 -DIFF 5166 -DIFF 5111 -DIFF 7370 -DIFF 7296 -DIFF 5852 -DIFF 6555 -DIFF 5055 -DIFF 6074 -DIFF 5889 -DIFF 5463 -DIFF 5129 -DIFF 5834 -DIFF 5056 -DIFF 5371 -DIFF 5389 -DIFF 5852 -DIFF 7129 -DIFF 5185 -DIFF 5870 -DIFF 8037 -DIFF 6962 -DIFF 7537 -DIFF 10314 -DIFF 5834 -DIFF 7907 -DIFF 9611 -DIFF 7926 -DIFF 5407 -DIFF 9482 -DIFF 5463 -DIFF 6277 -DIFF 5704 -DIFF 8018 -DIFF 12463 -DIFF 9315 -DIFF 7759 -DIFF 6481 -DIFF 8019 -DIFF 6352 -DIFF 5222 -DIFF 5407 -DIFF 6074 -DIFF 5907 -DIFF 5297 -DIFF 5425 -DIFF 5500 -DIFF 5537 -DIFF 5334 -DIFF 5685 -DIFF 5259 -DIFF 5240 -DIFF 5704 -DIFF 5722 -DIFF 5500 -DIFF 5760 -DIFF 6611 -DIFF 5370 -DIFF 6222 -DIFF 5685 -DIFF 5093 -DIFF 6166 -DIFF 5833 -DIFF 5629 -DIFF 7740 -DIFF 5537 -DIFF 5370 -DIFF 5185 -DIFF 5870 -DIFF 6833 -DIFF 6148 -DIFF 5056 -DIFF 5741 -DIFF 6833 -DIFF 7574 -DIFF 10185 -DIFF 8537 -DIFF 7203 -DIFF 6944 -DIFF 12722 -DIFF 5074 -DIFF 7037 -DIFF 6185 -DIFF 5204 -DIFF 7037 -DIFF 5907 -DIFF 6778 -DIFF 10648 -DIFF 7166 -DIFF 5926 -DIFF 5018 -DIFF 9648 -DIFF 7611 -DIFF 5759 -DIFF 9982 -DIFF 5925 -DIFF 8982 -DIFF 5500 -DIFF 6667 -DIFF 5019 -DIFF 5407 -DIFF 5333 -DIFF 5204 -DIFF 6093 -DIFF 5278 -DIFF 5704 -DIFF 6019 -DIFF 6056 -DIFF 5315 -DIFF 5018 -DIFF 5463 -DIFF 5796 -DIFF 5019 -DIFF 5408 -DIFF 5796 -DIFF 5019 -DIFF 5426 -DIFF 6185 -DIFF 5167 -DIFF 5592 -DIFF 6444 -DIFF 5833 -DIFF 5852 -DIFF 7593 -DIFF 5500 -DIFF 9667 -DIFF 12167 -DIFF 9000 -DIFF 11352 -DIFF 9555 -DIFF 11388 -DIFF 6166 -DIFF 6074 -DIFF 7185 -DIFF 6204 -DIFF 5222 -DIFF 5426 -DIFF 8074 -DIFF 7814 -DIFF 10056 -DIFF 7371 -DIFF 6018 -DIFF 11315 -DIFF 5981 -DIFF 5222 -DIFF 6889 -DIFF 5222 -DIFF 6407 -DIFF 5666 -DIFF 5074 GRBL busy: 1.00000 -DIFF 6241 -DIFF 5056 -DIFF 5944 -DIFF 5074 -DIFF 6778 -DIFF 5241 -DIFF 5222 -DIFF 5037 -DIFF 5760 -DIFF 5037 -DIFF 5926 -DIFF 5092 -DIFF 6556 -DIFF 5777 -DIFF 5111 -DIFF 5148 -DIFF 6037 -DIFF 5462 -DIFF 5111 -DIFF 6222 -DIFF 6666 -DIFF 6278 -DIFF 6759 -DIFF 6425 -DIFF 7537 -DIFF 7204 -DIFF 6908 -DIFF 10130 -DIFF 10704 -DIFF 6241 -DIFF 5296 -DIFF 6185 -DIFF 7222 -DIFF 7518 -DIFF 8722 -DIFF 9500 -DIFF 5074 -DIFF 6056 -DIFF 5462 -DIFF 9685 -DIFF 5907 -DIFF 10371 -DIFF 9574 -DIFF 6333 -DIFF 5389 -DIFF 5185 -DIFF 6000 -DIFF 5278 -DIFF 5315 -DIFF 5130 -DIFF 5092 -DIFF 6222 -DIFF 5111 -DIFF 5389 -DIFF 5537 -DIFF 5129 -DIFF 5500 -DIFF 5259 -DIFF 6129 -DIFF 5093 -DIFF 5537 -DIFF 5908 -DIFF 5352 -DIFF 5666 -DIFF 5814 -DIFF 6389 -DIFF 5148 -DIFF 5444 -DIFF 5760 -DIFF 6482 -DIFF 7278 -DIFF 5037 -DIFF 6704 -DIFF 5907 -DIFF 6055 -DIFF 12389 -DIFF 7019 -DIFF 10536 -DIFF 5203 -DIFF 11073 -DIFF 11592 -DIFF 5333 -DIFF 5648 -DIFF 5778 -DIFF 5944 -DIFF 8703 -DIFF 5555 -DIFF 10074 -DIFF 6982 -DIFF 5611 -DIFF 8704 -DIFF 6241 -DIFF 7222 -DIFF 6148 -DIFF 7852 -DIFF 7370 -DIFF 5574 -DIFF 5574 -DIFF 5778 -DIFF 5148 -DIFF 5111 -DIFF 5130 -DIFF 5148 -DIFF 5204 -DIFF 5204 -DIFF 5963 -DIFF 5056 -DIFF 5462 -DIFF 5777 -DIFF 5111 -DIFF 5518 -DIFF 5555 -DIFF 5240 -DIFF 6277 -DIFF 5426 -DIFF 5370 -DIFF 5129 -DIFF 5482 -DIFF 5092 -DIFF 5778 -DIFF 5278 -DIFF 5370 -DIFF 8037 -DIFF 6111 -DIFF 5333 -DIFF 6500 -DIFF 8444 -DIFF 9777 -DIFF 9222 -DIFF 6370 -DIFF 5944 -DIFF 24277 -DIFF 14388 -DIFF 7000 -DIFF 5277 -DIFF 5500 -DIFF 5852 -DIFF 7185 -DIFF 7240 -DIFF 5852 -DIFF 5111 -DIFF 5204 -DIFF 6481 -DIFF 5481 -DIFF 7907 -DIFF 10389 -DIFF 9093 -DIFF 6389 -DIFF 12852 -DIFF 11148 -DIFF 6092 -DIFF 7741 -DIFF 5685 -DIFF 6649 -DIFF 5815 -DIFF 9537 -DIFF 5982 -DIFF 5556 -DIFF 6000 -DIFF 5592 -DIFF 5056 -DIFF 5407 -DIFF 5648 -DIFF 6611 -DIFF 8277 -DIFF 5389 -DIFF 6408 -DIFF 5074 -DIFF 5574 -DIFF 7537 -DIFF 6907 -DIFF 5537 -DIFF 5259 -DIFF 5667 -DIFF 6092 -DIFF 5907 -DIFF 6315 -DIFF 5556 -DIFF 7000 -DIFF 5981 -DIFF 5074 -DIFF 5462 -DIFF 5370 -DIFF 5426 -DIFF 5148 -DIFF 5815 -DIFF 5093 -DIFF 8463 -DIFF 6741 -DIFF 5185 -DIFF 5685 -DIFF 5314 -DIFF 6389 -DIFF 5648 -DIFF 5999 -DIFF2022/01/31 14:36:27.280 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000014 -2022/01/31 14:36:27.280 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000006 -2022/01/31 14:36:27.480 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000010 -2022/01/31 14:36:27.481 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65249 fPos=-10 fActPosition=-10.02 time=0.000006 -2022/01/31 14:36:27.681 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65205 fPos=9.876 fActPosition=9.9 time=0.000011 -2022/01/31 14:36:27.681 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65253 fPos=-9.876 fActPosition=-9.9 time=0.000006 -2022/01/31 14:36:27.881 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65222 fPos=9.38 fActPosition=9.39 time=0.000011 -2022/01/31 14:36:27.881 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65270 fPos=-9.38 fActPosition=-9.39 time=0.000007 -2022/01/31 14:36:28.081 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65248 fPos=8.596 fActPosition=8.61 time=0.000015 -2022/01/31 14:36:28.082 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65297 fPos=-8.596 fActPosition=-8.58 time=0.000008 -2022/01/31 14:36:28.282 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65276 fPos=7.792 fActPosition=7.77 time=0.000021 -2022/01/31 14:36:28.282 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65324 fPos=-7.792 fActPosition=-7.77 time=0.000006 -2022/01/31 14:36:28.482 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65302 fPos=6.992 fActPosition=6.99 time=0.000010 -2022/01/31 14:36:28.482 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65350 fPos=-6.992 fActPosition=-6.99 time=0.000007 -2022/01/31 14:36:28.683 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65329 fPos=6.192 fActPosition=6.18 time=0.000011 -2022/01/31 14:36:28.683 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65377 fPos=-6.192 fActPosition=-6.18 time=0.000007 -2022/01/31 14:36:28.883 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65356 fPos=5.388 fActPosition=5.37 time=0.000487 -2022/01/31 14:36:28.884 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65404 fPos=-5.388 fActPosition=-5.37 time=0.000013 - 6315 -DIFF 5851 -DIFF 8352 -DIFF 5203 -DIFF 7667 -DIFF 5685 -DIFF 6093 -DIFF 6278 -DIFF 5519 -DIFF 8518 -DIFF 10685 -DIFF 12611 -DIFF 8370 -DIFF 13370 -DIFF 5592 -DIFF 6574 -DIFF 6056 -DIFF 5888 -DIFF 5685 -DIFF 5778 -DIFF 5963 -DIFF 10185 -DIFF 6685 -DIFF 7574 -DIFF 5185 -DIFF 6000 -DIFF 7518 -DIFF 8648 -DIFF 7425 -DIFF 5926 -DIFF 14425 -DIFF 7185 -DIFF 6315 -DIFF 6037 -DIFF 5444 -DIFF 5648 -DIFF 7556 -DIFF 6222 -DIFF 5111 -GRBL: INFO: Reply OK (command[6] = G4P2) -GRBL: INFO: Write command (command[7] = G1X0Y0) -Added: G1X0Y0../grbl/grbl_gcode.c:gc_execute_line:71: +GRBL: INFO: Reply OK (command[5] = G4P2) +GRBL: INFO: Write command (command[6] = G0X10Y10) +Added: G0X10Y10../grbl/grbl_gcode.c:gc_execute_line:71: ../grbl/grbl_motion_control.c:mc_line:33: -GRBL: INFO: Reply OK (command[7] = G1X0Y0) -GRBL: INFO: Write command (command[8] = G1X20Y20F360) -Added: G1X20Y20F360../grbl/grbl_gcode.c:gc_execute_line:71: +GRBL: INFO: Reply OK (command[6] = G0X10Y10) +GRBL: INFO: Write command (command[7] = G2X10Y-10R10) +Added: G2X10Y-10R10../grbl/grbl_gcode.c:gc_execute_line:71: +../grbl/grbl_motion_control.c:mc_arc:91: ../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: -DIFF 5037 -../grbl/grbl_stepper.c:st_next_block_index:652: -GRBL: INFO: Reply OK (command[8] = G1X20Y20F360) -GRBL: INFO: Write command (command[9] = G4P2) -Added: G4P2DIFF 6611 +../grbl/grbl_stepper.c:st_update_plan_block_parameters:643: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_stepper.c:st_next_block_index:656: ../grbl/grbl_stepper.c:st_wake_up:228: -../grbl/grbl_gcode.c:gc_execute_line:71: -../grbl/grbl_motion_control.c:mc_dwell:200: -DIFF 5074 GRBL busy: 1.00000 -DIFF 6426 -DIFF 5426 -DIFF 6518 -DIFF 5499 -DIFF 6574 -DIFF 5240 -DIFF 5759 -DIFF 6240 -DIFF 6555 -DIFF 6223 -DIFF 6611 -DIFF 5999 -DIFF 6130 -DIFF 5481 -DIFF 5537 -DIFF 6833 -DIFF 9129 -DIFF 6241 -DIFF 5518 -DIFF 5037 -DIFF 7723 -DIFF 9148 -DIFF 13925 -DIFF 9463 -DIFF 8129 -DIFF 10667 -DIFF 6500 -DIFF 6741 -DIFF 5148 -DIFF 5686 -DIFF 6833 -DIFF 7370 -DIFF 6315 -DIFF 5241 -DIFF 6129 -DIFF 5592 -DIFF 6000 -DIFF 5926 -DIFF 8130 -DIFF 6222 -DIFF 5592 -DIFF 8574 -DIFF 8593 -DIFF 5592 -DIFF 9204 -DIFF 10388 -DIFF 6759 -DIFF 5815 -DIFF 5870 -DIFF 5981 -DIFF 5166 -DIFF 6537 -DIFF 9518 -DIFF 6037 -DIFF 8314 -DIFF 8092 -DIFF 5703 -DIFF 9297 -DIFF 7037 -DIFF 5463 -DIFF 7889 -DIFF 5963 -DIFF 9629 -DIFF 7555 -DIFF 5482 -DIFF 6314 -DIFF 6241 -DIFF 5055 -DIFF 8704 -DIFF 10889 -DIFF 12407 -DIFF 11500 -DIFF 14908 -DIFF 6518 -DIFF 6760 -DIFF 6833 -DIFF 10148 -DIFF 6111 -DIFF 11426 -DIFF 11389 -DIFF 6056 -DIFF 5056 -DIFF 5019 -DIFF 5056 -DIFF 5203 -DIFF 9352 -DIFF 11000 -DIFF 5500 -DIFF 5018 -DIFF 7370 -DIFF 5982 -DIFF 6000 -DIFF 7722 -DIFF 5130 -DIFF 5056 -DIFF 5278 -DIFF 5499 -DIFF 6518 -DIFF 6019 -DIFF 8703 -DIFF 7889 -DIFF 5426 -DIFF 5148 -DIFF 5074 -DIFF 5278 -DIFF 5074 -DIFF 5629 -DIFF 12740 -DIFF 5314 -DIFF 5333 -DIFF 5703 -DIFF 7204 -DIFF 8537 -DIFF 5407 -DIFF 7481 -DIFF 6518 -DIFF 5185 -DIFF 7500 -DIFF 6111 -DIFF 7073 -DIFF 9463 -DIFF 6074 -DIFF 5667 -DIFF 5889 -DIFF 6537 -DIFF 5611 -DIFF 5630 -DIFF 6148 -DIFF 5536 -DIFF 6148 -DIFF 5685 -DIFF 5426 -DIFF 6389 -DIFF 5315 -DIFF 5574 -DIFF 7889 -DIFF 7592 -DIFF 5815 -DIFF 6371 -DIFF 7055 -DIFF 5129 -DIFF 8555 -DIFF 5407 -DIFF 7019 -DIFF 5944 -DIFF 5425 -DIFF 5167 -DIFF 5371 -DIFF 5926 -DIFF 5796 -DIFF 5648 -DIFF 6037 -DIFF 5593 -DIFF 7241 -DIFF 6185 -DIFF 5629 -DIFF 8037 -DIFF 13018 -DIFF 6499 -DIFF 6574 -DIFF 6148 -DIFF 5889 +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_stepper.c:st_next_block_index:656: GRBL busy: 1.00000 -DIFF 6240 -DIFF 5500 -DIFF 8333 -DIFF 5278 -DIFF 5556 -DIFF 6296 -DIFF 6204 -DIFF 5760 -DIFF 6889 -DIFF 6203 -DIFF 5759 -DIFF 11203 -DIFF 5611 -DIFF 6981 -DIFF 6833 -DIFF 5833 -DIFF 5240 -DIFF 7537 -DIFF 7667 -DIFF 5926 -DIFF 5926 -DIFF 5056 -DIFF 5019 -DIFF 6093 -DIFF 6222 -DIFF 9981 -DIFF 7499 -DIFF 5037 -DIFF 5185 -DIFF 7222 -DIFF 5833 -DIFF 6185 -DIFF 5796 -DIFF 5408 -DIFF 5055 -DIFF 6315 -DIFF 5648 -DIFF 5630 -DIFF 5944 -DIFF 5592 -DIFF 5167 -DIFF 5648 -DIFF 5056 -DIFF 5130 -DIFF 5130 -DIFF 6241 -DIFF 5685 -DIFF 5018 -DIFF 5130 -DIFF 5019 -DIFF 5759 -DIFF 5593 -DIFF 5074 -DIFF 5259 -DIFF 6259 -DIFF 5741 -DIFF 5018 -DIFF 5278 -DIFF 5130 -DIFF 5167 -DIFF 5852 -DIFF 5611 -DIFF 5333 -DIFF 6426 -DIFF 6240 -DIFF 5611 -DIFF 5111 -DIFF 5278 -DIFF 5555 -DIFF 6297 -DIFF 5611 -DIFF 5018 -DIFF 7297 -DIFF 8260 -DIFF 10296 -DIFF 12352 -DIFF 11648 -DIFF 6907 -DIFF 5019 -DIFF 5333 -DIFF 13611 -DIFF 18222 -DIFF 14796 -DIFF 10796 -DIFF 12203 -DIFF 12944 -DIFF 10815 -DIFF 9871 -DIFF 11778 -DIFF 10481 -DIFF 14055 -DIFF 6556 -DIFF 6352 -DIFF 6926 -DIFF 9278 -DIFF 8055 -DIFF 7445 -DIFF 10056 -DIFF 8019 -DIFF 11240 -DIFF 12759 -DIFF 9444 -DIFF 9222 -DIFF 23093 -DIFF 13278 -DIFF 10592 -DIFF 12629 -DIFF 13870 -DIFF 12278 -DIFF 10222 -DIFF 16074 -DIFF 10962 -DIFF 8944 -DIFF 7833 -DIFF 9907 -DIFF 10648 -DIFF 12333 -DIFF 10592 -DIFF 12018 -DIFF 15037 -DIFF 22370 -DIFF 17148 -DIFF 9278 -DIFF 10963 -DIFF2022/01/31 14:36:29.084 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65382 fPos=4.58 fActPosition=4.59 time=0.000011 -2022/01/31 14:36:29.084 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65430 fPos=-4.58 fActPosition=-4.59 time=0.000007 -2022/01/31 14:36:29.284 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65409 fPos=3.784 fActPosition=3.78 time=0.000010 -2022/01/31 14:36:29.284 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65457 fPos=-3.784 fActPosition=-3.78 time=0.000006 +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_stepper.c:st_next_block_index:656: +../grbl/grbl_motion_control.c:mc_line:33: +../grbl/grbl_stepper.c:st_next_block_index:656: +2022/02/01 11:20:58.195 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65188 fPos=10.416 fActPosition=10.41 time=0.000008 +2022/02/01 11:20:58.195 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1196 fPos=9.992 fActPosition=9.99 time=0.000006 +2022/02/01 11:20:58.395 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65162 fPos=11.208 fActPosition=11.19 time=0.000009 +2022/02/01 11:20:58.395 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=1194 fPos=9.928 fActPosition=9.93 time=0.000005 diff --git a/iocsh/test.script b/iocsh/test.script index af446ba..702a366 100644 --- a/iocsh/test.script +++ b/iocsh/test.script @@ -23,8 +23,25 @@ $(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=ruc ############################################################################## ## Configure hardware: +# Hardware for X and Y in ESS crate $(SCRIPTEXEC) $(ecmccfg_DIR)ecmcMCU1021_coupler.cmd + +# Use EL7211 as spindle +epicsEnvSet("ECMC_EC_SLAVE_NUM", "11") +epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE", "$(ECMC_EC_SLAVE_NUM)") + +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7211-0010" + +# Apply local 24V config (local here) +${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd, "LOCAL_CONFIG=./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd" + +#Apply hardware configuration (wronmg here, should only be caööed once) +ecmcConfigOrDie "Cfg.EcApplyConfig(1)" + +#Does not work. Known issue DC-patch for etherlab manster needed... +#ecmcConfigOrDie "Cfg.EcSelectReferenceDC(0,$(ECMC_EC_SLAVE_NUM))" + # ADDITIONAL SETUP # Set all outputs to feed switches ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)" @@ -38,7 +55,7 @@ ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOut # END of ADDITIONAL SETUP ############################################################################## -## AXIS 1 +## AXIS 1: X-axis # epicsEnvSet("DEV", "$(IOC)") $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear_1.ax) @@ -46,20 +63,26 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear_1.ax) $(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/linear_1.sax) ############################################################################## -## AXIS 2 +## AXIS 2: Y-axis # #epicsEnvSet("DEV", "$(IOC)") $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear_2.ax) # Set external setpoints $(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/linear_2.sax) +############################################################################## +## AXIS 3: Spindle +# +epicsEnvSet("DEV", "$(IOC)") +$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7201_mod.ax) + ############################################################################## ## Load plugin: epicsEnvSet("PLUGIN_VER" ,"develop") require ecmc_plugin_grbl $(PLUGIN_VER) epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so") -epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin +epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1" epicsEnvUnset(ECMC_PLUGIN_FILNAME) epicsEnvUnset(ECMC_PLUGIN_CONFIG)